6 papers · 1 filter
Residual Reinforcement Learning for Robot Teleoperation under Stochastic Delays
Kaize Deng, Zewen Yang
Stochastic communication delays in teleoperation introduce signal discontinuities that undermine control stability and degrade control performance. Consequently, the conventional r…
Safe Consensus of Cooperative Manipulation with Hierarchical Event-Triggered Control Barrier Functions
Simiao Zhuang, Bingkun Huang, Zewen Yang
Cooperative transport and manipulation of heavy or bulky payloads by multiple manipulators requires coordinated formation tracking, while simultaneously enforcing strict safety con…
Safe-Night VLA: Seeing the Unseen via Thermal-Perceptive Vision-Language-Action Models for Safety-Critical Manipulation
Dian Yu, Qingchuan Zhou, Bingkun Huang +2
Current Vision-Language-Action (VLA) models rely primarily on RGB perception, preventing them from capturing modalities such as thermal signals that are imperceptible to convention…
Contact-Safe Reinforcement Learning with ProMP Reparameterization and Energy Awareness
Bingkun Huang, Yuhe Gong, Zewen Yang +2
Reinforcement learning (RL) approaches based on Markov Decision Processes (MDPs) are predominantly applied in the robot joint space, often relying on limited task-specific informat…
Prompt2Auto: From Motion Prompt to Automated Control via Geometry-Invariant One-Shot Gaussian Process Learning
Zewen Yang, Xiaobing Dai, Dongfa Zhang +5
Learning from demonstration allows robots to acquire complex skills from human demonstrations, but conventional approaches often require large datasets and fail to generalize acros…
RCM Constraint-Consistent Dynamic Control in Surgical Robots
Yu Li, Hamid Sadeghian, Zewen Yang +2
Robotic-assisted minimally invasive surgery (RAMIS) requires accurate enforcement of the remote center of motion (RCM) constraint to ensure safe tool motion through a trocar. Exist…