44 citations · 45 across the 11 of their papers we have counts for
5 papers · 1 filter
End-to-End Learning of Safe Optimal Feedback Control in High Dimensions with Control Barrier Function Layers
Xingjian Li, Kelvin Kan, Deepanshu Verma +3
We consider the problem of learning high-dimensional semi-global feedback controllers under hard safety constraints enforced by control barrier functions (CBFs). Incorporating CBFs…
Path Planning in Physically Viable World Models
Su Ann Low, Cheng-Hsi Hsiao, Xingjian Li +3
Robots deployed in unstructured outdoor environments often plan from scene reconstructions collected before deployment because operators cannot remap large or remote sites before e…
Physically Viable World Models: A Case for Query-Conditioned Embodied AI
Adam J. Thorpe, Stepan Tretiakov, Cheng-Hsi Hsiao +6
World models for embodied AI must be physically viable: constructed to answer intervention queries by representing the physical structure governing action outcomes, rather than mer…
Vocabulary-size-independent Convergence of Discrete Diffusion Models: adjoint equations induce the right space
Kelvin Kan, Xingjian Li, Benjamin J. Zhang +3
Discrete diffusion has become a leading framework for generative modeling in various applications including language, vision, and biology. Existing convergence theory, however, exh…
SKETCH: Semantic Key-Point Conditioning for Long-Horizon Vessel Trajectory Prediction
Linyong Gan, Zimo Li, Wenxin Xu +4
Accurate long-horizon vessel trajectory prediction remains challenging due to compounded uncertainty from complex navigation behaviors and environmental factors. Existing methods o…