5 papers
One Word, Different Action: A Real-Robot Benchmark for Language-Conditioned Embodied Reasoning
Yiwei Liu, Luwei Yang, Shunbo Lei
Changes in natural-language instructions can directly alter the behavior ultimately executed by a robot, but such changes do not always imply that the task itself has changed. We p…
Active Perception for Embodied Disambiguation
Yiwei Liu, Luwei Yang
Natural language provides robots with a flexible task interface, but target ambiguity in embodied environments arises not only from user intent; it can also result from missing tas…
OCO-S: Online Convex Optimization with Stateful Costs and Sparse Communication
Yiwei Liu, Luwei Yang, Shunbo Lei
We study \textsc{OCO-S}, an online convex optimization setting in which decisions drive a stable dynamical state, losses are incurred along the induced state trajectory, and fi…
Delay-Robust Secondary Frequency Control via Passive Interconnection and Randomized Block Updates
Yiwei Liu, Luwei Yang, Shunbo Lei
This paper studies secondary frequency control in transmission networks subject to communication delays at the cyber-physical interface and limited per-update computation at the co…
Distributed Multi-Time Slot Power Balancing Control of Power Systems with Energy Storage Devices
Luwei Yang, Tao Liu, David J. Hill
This paper studies a crucial problem in power system balancing control, i.e., the multi-time slot economic dispatch (MTSED) problem, for power grids with substantial renewables, sy…