8 papers
A Multi-Technique Approach for Improving Summary Polar Diagrams
Aleksandar Anžel, Zewen Yang, Georges Hattab
While the polar system may lack the universal familiarity of its Cartesian counterpart, it remains indispensable for certain tasks. Summary polar diagrams, such as Taylor and mutua…
UniConFlow: A Unified Constrained Flow-Matching Framework for Certified Motion Planning
Zewen Yang, Xiaobing Dai, Dian Yu +4
Generative models have become increasingly powerful tools for robot motion generation, enabling flexible and multimodal trajectory generation across various tasks. Yet, most existi…
Quality or Quantity? Error-Informed Selective Online Learning with Gaussian Processes in Multi-Agent Systems: Extended Version
Zewen Yang, Xiaobing Dai, Jiajun Cheng +2
Effective cooperation is pivotal in distributed learning for multi-agent systems, where the interplay between the quantity and quality of the machine learning models is crucial. Th…
Streaming Generated Gaussian Process Experts for Online Learning and Control: Extended Version
Zewen Yang, Dongfa Zhang, Xiaobing Dai +5
Gaussian Processes (GPs), as a nonparametric learning method, offer flexible modeling capabilities and calibrated uncertainty quantification for function approximations. Additional…
SafeFlow: Safe Robot Motion Planning with Flow Matching via Control Barrier Functions
Xiaobing Dai, Zewen Yang, Dian Yu +4
Recent advances in generative modeling have led to promising results in robot motion planning, particularly through diffusion and flow matching (FM)-based models that capture compl…
GPgym: A Remote Service Platform with Gaussian Process Regression for Online Learning
Xiaobing Dai, Zewen Yang
Machine learning is now widely applied across various domains, including industry, engineering, and research. While numerous mature machine learning models have been open-sourced o…