8 papers
VLM-in-the-Loop: A Plug-In Quality Assurance Module for ECG Digitization Pipelines
Jiachen Li, Shihao Li, Soovadeep Bakshi +2
ECG digitization could unlock billions of archived clinical records, yet existing methods collapse on real-world images despite strong benchmark numbers. We introduce \textbf{VLM-i…
DM-MPPI: Datamodel for Efficient and Safe Model Path Integral Control
Jiachen Li, Xu Duan, Shihao Li +2
We extend the Datamodels framework from supervised learning to Model Predictive Path Integral (MPPI) control. Whereas Datamodels estimate sample influence via regression on a fixed…
Datamodel-Based Data Selection for Nonlinear Data-Enabled Predictive Control
Jiachen Li, Shihao Li, Jiamin Xu +2
Data-Enabled Predictive Control (DeePC) has emerged as a powerful framework for controlling unknown systems directly from input-output data. For nonlinear systems, recent work has…
Influence Functions for Data Attribution in Linear System Identification and LQR Control
Jiachen Li, Shihao Li, Soovadeep Bakshi +2
When a controller is designed from an identified model, its performance ultimately depends on the trajectories used for identification, but pinpointing which ones help or hurt rema…
Auction-Based Task Allocation with Energy-Conscientious Trajectory Optimization for AMR Fleets
Jiachen Li, Soovadeep Bakshi, Jian Chu +2
This paper presents a hierarchical two-stage framework for multi-robot task allocation and trajectory optimization in asymmetric task spaces: (1) a sequential auction allocates tas…
IF-CPS: Influence Functions for Cyber-Physical Systems -- A Unified Framework for Diagnosis, Curation, and Safety Attribution
Jiachen Li, Shihao Li, Soovadeep Bakshi +2
Neural network controllers trained via behavior cloning are increasingly deployed in cyber-physical systems (CPS), yet practitioners lack tools to trace controller failures back to…