4 citations · 4 across the 13 of their papers we have counts for
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Verified Task-Space Motion Planning Under Joint-Space Constraints
Hanjiang Hu, Changliu Liu, Yebin Wang
Reactive task-space planners such as Bug2 operate with fixed Cartesian step sizes and are unaware of the manipulator's joint-angle limits. When the Jacobian is poorly conditioned,…
Online Safety Filter for Deformable Object Manipulation with Horizon Agnostic Neural Operators
Jiaxing Li, Hanjiang Hu, Zhuoyuan Wang +2
Safety critical control of robotic manipulation tasks involving deformable media such as fluids, cloth, and soft objects remains challenging because existing learning based approac…
Emergent Neural Automaton Policies: Learning Symbolic Structure from Visuomotor Trajectories
Yiyuan Pan, Xusheng Luo, Hanjiang Hu +2
Scaling robot learning to long-horizon tasks remains a formidable challenge. While end-to-end policies often lack the structural priors needed for effective long-term reasoning, tr…
Verification of Neural Control Barrier Functions with Symbolic Derivative Bounds Propagation
Hanjiang Hu, Yujie Yang, Tianhao Wei +1
Control barrier functions (CBFs) are important in safety-critical systems and robot control applications. Neural networks have been used to parameterize and synthesize CBFs with bo…