4 citations · 4 across the 2 of their papers we have counts for
6 papers
MoRI: Mixture of RL and IL Experts for Long-Horizon Manipulation Tasks
Yaohang Xu, Lianjie Ma, Gewei Zuo +3
Reinforcement Learning (RL) and Imitation Learning (IL) are the standard frameworks for policy acquisition in manipulation. While IL offers efficient policy derivation, it suffers…
Achieving distributed convex optimization within prescribed time for high-order nonlinear multiagent systems
Gewei Zuo, Lijun Zhu, Yujuan Wang +2
In this paper, we address the distributed prescribed-time convex optimization (DPTCO) problem for a class of nonlinear multi-agent systems (MASs) under undirected connected graph.…
A Three-Level Whole-Body Disturbance Rejection Control Framework for Dynamic Motions in Legged Robots
Bolin Li, Gewei Zuo, Zhixiang Wang +3
This paper presents a control framework designed to enhance the stability and robustness of legged robots in the presence of uncertainties, including model uncertainties, external…
Hybrid Dynamics Modeling and Trajectory Planning for a Cable-Trailer System with a Quadruped Robot
Wentao Zhang, Shaohang Xu, Gewei Zuo +3
Inspired by sled-pulling dogs in transportation, we present a cable-trailer integrated with a quadruped robot system. The motion planning of this system faces challenges due to the…
Disturbance Estimation of Legged Robots: Predefined Convergence via Dynamic Gains
Bolin Li, Peiyuan Cai, Gewei Zuo +2
In this study, we address the challenge of disturbance estimation in legged robots by introducing a novel continuous-time online feedback-based disturbance observer that leverages…
Prescribed-time Cooperative Output Regulation of Linear Heterogeneous Multi-agent Systems
Gewei Zuo, Lijun Zhu, Yujuan Wang +1
A finite-time protocol for a multi-agent systems (MASs) can guarantee the convergence of every agent in a finite time interval in contrast to the asymptotic convergence, but the se…