3 papers
cs.RO2026
SixthSense: Task-Agnostic Proprioception-Only Whole-Body Wrench Estimation for Humanoids
Xingzhou Chen, Xiayan Xu, Yan Ning +8
Humanoid robots are entering our physical world at scale, yet as oversized toys--good at singing and dancing, but short on force-interaction capabilities for practical tasks. Bridg…
eess.SY2025
Event-triggered Dual Gradient Tracking for Distributed Resource Allocation
Xiayan Xu, Xiaomeng Chen, Dawei Shi +1
High communication costs create a major bottleneck for distributed resource allocation over unbalanced directed networks. Conventional dual gradient tracking methods, while effecti…
math.OC2025
Interior-Point-based H2 Controller Synthesis for Compartmental Systems
Zhaohua Yang, Nachuan Yang, Pengyu Wang +3
This paper addresses the problem of the optimal controller design for compartmental systems. In other words, we aim to enhance system robustness while maintaining the law of…