13 citations · 24 across the 9 of their papers we have counts for
9 papers
Interpreting Control Latents for System Identification via Conditional Flow Matching
Dingqi Zhang, Ruiqi Zhang, Mark W. Mueller
Latent-conditioned adaptive policies can control robots across changing dynamics, but their learned latents remain internal representations of the policy rather than physical model…
LieIPM: Lie Group Interior Point Method for Direct Trajectory Optimization of Rigid Bodies
Sangli Teng, Ruiqi Zhang, Tzu-Yuan Lin +5
Designing dynamically feasible trajectories for rigid bodies is a fundamental problem in robotics. While direct methods are widely used, the existing constrained optimizers typical…
A Simulation Evaluation Suite for Robust Adaptive Quadcopter Control
Dingqi Zhang, Ran Tao, Sheng Cheng +2
Robust adaptive control methods are essential for maintaining quadcopter performance under external disturbances and model uncertainties. However, fragmented evaluations across tas…
Duawlfin: A Drone with Unified Actuation for Wheeled Locomotion and Flight Operation
Jerry Tang, Ruiqi Zhang, Kaan Beyduz +5
This paper presents Duawlfin, a drone with unified actuation for wheeled locomotion and flight operation that achieves efficient, bidirectional ground mobility. Unlike existing hyb…
Synthesizing Interpretable Control Policies through Large Language Model Guided Search
Carlo Bosio, Mark W. Mueller
The combination of Large Language Models (LLMs), systematic evaluation, and evolutionary algorithms has enabled breakthroughs in combinatorial optimization and scientific discovery…
ProxFly: Robust Control for Close Proximity Quadcopter Flight via Residual Reinforcement Learning
Ruiqi Zhang, Dingqi Zhang, Mark W. Mueller
This paper proposes the ProxFly, a residual deep Reinforcement Learning (RL)-based controller for close proximity quadcopter flight. Specifically, we design a residual module on to…
A Learning-based Quadcopter Controller with Extreme Adaptation
Dingqi Zhang, Antonio Loquercio, Jerry Tang +3
This paper introduces a learning-based low-level controller for quadcopters, which adaptively controls quadcopters with significant variations in mass, size, and actuator capabilit…
Automated Layout and Control Co-Design of Robust Multi-UAV Transportation Systems
Carlo Bosio, Mark W. Mueller
The joint optimization of physical parameters and controllers in robotic systems is challenging. This is due to the difficulties of predicting the effect that changes in physical p…
Learning a Single Near-hover Position Controller for Vastly Different Quadcopters
Dingqi Zhang, Antonio Loquercio, Xiangyu Wu +3
This paper proposes an adaptive near-hover position controller for quadcopters, which can be deployed to quadcopters of very different mass, size and motor constants, and also show…