5 accepted papers
This work presents a novel and efficient non-linear programming framework that tightly integrates hierarchical decision-making with inverse kinematic planning and control. Decision-making plays a central role in many aspects of robotics, from sparse inverse kinematic control with a minimal number of…
Diffusion models have recently advanced video editing, yet controllable editing remains challenging due to the need for precise manipulation of diverse object properties. Current methods require different control signal for diverse editing tasks, which complicates model design and demands significan
Calibrating unknown transformation relationships is crucial for achieving coordinated motion in dual-robot systems. This calibration process can be formulated by solving the transformation matrix equation <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1
This article presents a data-driven algorithm to compute optimal control inputs for input-constrained nonlinear optimal control problems with switched dynamics. We consider multi-stage optimal control problems where the control inputs and the switching instants are both unknown. Our key contribution
Constrained optimal feedback controllers can be used to mitigate external perturbations and modeling errors in robot control. However, these controllers require extensive calculation that is one of their main limitations in real-time implementation. Here we present two locally optimal feedback contr