Jinze Liu — accepted AI-conference papers

2025

Offline Reinforcement Learning with Koopman Operators for Control of Soft Robots

Yue Jiang, Cong Li, Yihe Yang, Wenyu Cao, Xin Xu, Jinze Liu +2

IROS 2025

Soft robots are promising to offer flexibility in environmental interaction tasks through compliant deformations. However, the infinite degrees of freedom and high nonlinearity of dynamics pose significant challenges in dynamic modeling and control in soft robots. While online reinforcement learning

Cited by 0 Source ↗Scholar ↗

2023

CLF-CBF Constraints for Real-Time Avoidance of Multiple Obstacles in Bipedal Locomotion and Navigation

Jinze Liu, Minzhe Li, Jessy W. Grizzle, Jiunn-Kai Huang

IROS 2023poster

This paper presents a reactive planning system that allows a Cassie-series bipedal robot to avoid multiple non-overlapping obstacles via a single, continuously differentiable control barrier function (CBF). The overall system detects an individual obstacle via a height map derived from a LiDAR point…

Cited by 7 Source ↗Scholar ↗