8 accepted papers
Drifting, characterized by controlled vehicle motion at high sideslip angles, is crucial for safely handling emergency scenarios at the friction limits. While recent reinforcement learning approaches show promise for drifting control, they struggle with the significant simulation-to-reality gap, as …
This paper presents a hierarchical control framework for quadrupedal locomotion that unifies the complementary strengths of model-based optimization and reinforcement learning. We develop a convex Quadratic Programming~(QP) solver based on the primal-dual Chambolle-Pock algorithm, enabling both mass…
Drifting, characterized by controlled vehicle motion at high sideslip angles, is crucial for safely handling emergency scenarios at the friction limits. While recent reinforcement learning approaches show promise for drifting control, they struggle with the significant simulation-to-reality gap, as
Location-based services (LBS) have accumulated extensive human mobility data on diverse behaviors through check-in sequences. These sequences offer valuable insights into users’ intentions and preferences. Yet, existing models analyzing check-in sequences fail to consider the semantics contained in…
Spectral clustering has gained popularity for clustering non-convex data due to its simplicity and effectiveness. It is essential to construct a similarity graph using a high-quality affinity measure that models the local neighborhood relations among the data samples. However, incomplete data can le…
Inertia drift is an aggressive transitional driving maneuver, which is challenging due to the high nonlinearity of the system and the stringent requirement on control and planning performance. This paper presents a solution for the consecutive inertia drift of an autonomous RC car based on primitive…
Shape-changing robotic mannequin is a humanoid robot for imitating shapes of human bodies. The diversity of human bodies makes it difficult to imitate various body shapes, especially the shoulders. This paper proposes a rigid-flexible-soft coupling three-layered robotic mannequin shoulder inspired b
Maneuvering an autonomous vehicle under drift condition is critical to the safety of autonomous vehicles when there is a sudden loss of traction due to external conditions such as rain or snow, which is a challenging control problem due to the presence of significant sideslip and nearly full saturat…