5 papers
Koopman Dreamer: Spectrally Constrained Latent Dynamics for Stable World-Model Imagination
Jiaqi Li, Xinglong Zhang, Haibin Xie +3
Latent world models improve sample efficiency in continuous control by optimizing policies over imagined latent trajectories, but common neural transitions offer limited direct con…
Virtual-force Based Visual Servo for Multiple Peg-in-Hole Assembly with Tightly Coupled Multi-Manipulator
Jiawei Zhang, Chengchao Bai, Wei Pan +1
Multiple Peg-in-Hole (MPiH) assembly is one of the fundamental tasks in robotic assembly. In the MPiH tasks for large-size parts, it is challenging for a single manipulator to simu…
Local Path Optimization in The Latent Space Using Learned Distance Gradient
Jiawei Zhang, Chengchao Bai, Wei Pan +2
Constrained motion planning is a common but challenging problem in robotic manipulation. In recent years, data-driven constrained motion planning algorithms have shown impressive p…
Vehicle Dynamics Embedded World Models for Autonomous Driving
Huiqian Li, Wei Pan, Haodong Zhang +2
World models have gained significant attention as a promising approach for autonomous driving. By emulating human-like perception and decision-making processes, these models can pr…
Toward Scalable Multirobot Control: Fast Policy Learning in Distributed MPC
Xinglong Zhang, Wei Pan, Cong Li +4
Distributed model predictive control (DMPC) is promising in achieving optimal cooperative control in multirobot systems (MRS). However, real-time DMPC implementation relies on nume…