9 papers
Scaling Law of Neural Koopman Operators
Abulikemu Abuduweili, Yuyang Pang, Feihan Li +1
Data-driven neural Koopman operator theory has emerged as a powerful tool for linearizing and controlling nonlinear robotic systems. However, the performance of these data-driven m…
Trends in Motion Prediction Toward Deployable and Generalizable Autonomy: A Revisit and Perspectives
Letian Wang, Marc-Antoine Lavoie, Sandro Papais +13
Motion prediction, recently popularized as world models, refers to the anticipation of future agent states or scene evolution, which is rooted in human cognition, bridging percepti…
Continual Learning and Lifting of Koopman Dynamics for Linear Control of Legged Robots
Feihan Li, Abulikemu Abuduweili, Yifan Sun +3
The control of legged robots, particularly humanoid and quadruped robots, presents significant challenges due to their high-dimensional and nonlinear dynamics. While linear systems…
Enhancing Sample Generation of Diffusion Models using Noise Level Correction
Abulikemu Abuduweili, Chenyang Yuan, Changliu Liu +1
The denoising process of diffusion models can be interpreted as an approximate projection of noisy samples onto the data manifold. Moreover, the noise level in these samples approx…
Revisiting the Initial Steps in Adaptive Gradient Descent Optimization
Abulikemu Abuduweili, Changliu Liu
Adaptive gradient optimization methods, such as Adam, are prevalent in training deep neural networks across diverse machine learning tasks due to their ability to achieve faster co…
Robustifying Long-term Human-Robot Collaboration through a Multimodal and Hierarchical Framework
Peiqi Yu, Abulikemu Abuduweili, Ruixuan Liu +1
Long-term Human-Robot Collaboration (HRC) is crucial for enabling flexible manufacturing systems and integrating companion robots into daily human environments over extended period…