2 citations · 6 across the 13 of their papers we have counts for
4 papers · 1 filter
Self-Supervised Meta-Learning for All-Layer DNN-Based Adaptive Control with Stability Guarantees
Guanqi He, Yogita Choudhary, Guanya Shi
A critical goal of adaptive control is enabling robots to rapidly adapt in dynamic environments. Recent studies have developed a meta-learning-based adaptive control scheme, which…
Flying Calligrapher: Contact-Aware Motion and Force Planning and Control for Aerial Manipulation
Xiaofeng Guo, Guanqi He, Jiahe Xu +4
Aerial manipulation has gained interest in completing high-altitude tasks that are challenging for human workers, such as contact inspection and defect detection, etc. Previous res…
CoVO-MPC: Theoretical Analysis of Sampling-based MPC and Optimal Covariance Design
Zeji Yi, Chaoyi Pan, Guanqi He +2
Sampling-based Model Predictive Control (MPC) has been a practical and effective approach in many domains, notably model-based reinforcement learning, thanks to its flexibility and…
Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion
Tairan He, Chong Zhang, Wenli Xiao +3
Legged robots navigating cluttered environments must be jointly agile for efficient task execution and safe to avoid collisions with obstacles or humans. Existing studies either de…