Related papers: Improving the Closed-Loop Tracking Performance Usi…
First-order Policy Gradient (FoPG) algorithms such as Backpropagation through Time and Analytical Policy Gradients leverage local simulation physics to accelerate policy search, significantly improving sample efficiency in robot control…
Robust closed-loop locomotion remains challenging for soft quadruped robots due to high-dimensional dynamics, actuator hysteresis, and difficult-to-model contact interactions, while conventional proprioception provides limited information…
This paper presents a partial state-feedback reduced-order switching predictive model designed to support the next-generation lithography roadmap. The proposed approach addresses the trade-off between increasing the number of measurements…
Over these years, Correlation Filter-based Trackers (CFTs) have aroused increasing interests in the field of visual object tracking, and have achieved extremely compelling results in different competitions and benchmarks. In this paper, our…
In this paper, a practical fractional-order variable-gain super-twisting algorithm (PFVSTA) is proposed to improve the tracking performance of wafer stages for semiconductor manufacturing. Based on the sliding mode control (SMC), the…
Multi-Object Tracking (MOT) aims to detect and associate all targets of given classes across frames. Current dominant solutions, e.g. ByteTrack and StrongSORT++, follow the hybrid pipeline, which first accomplish most of the associations in…
In the field of bioimaging, an important part of analyzing the motion of objects is tracking. We propose a method that applies the Sinkhorn distance for solving the optimal transport problem to track objects. The advantage of this method is…
A novel, model free, approach to experimental closed-loop flow control is implemented on a separated flow. Feedback control laws are generated using genetic programming where they are optimized using replication, mutation and cross-over of…
Visual-inertial SLAM is essential for robot navigation in GPS-denied environments, e.g. indoor, underground. Conventionally, the performance of visual-inertial SLAM is evaluated with open-loop analysis, with a focus on the drift level of…
In this paper, a comparative study is done on the time and frequency domain tuning strategies for fractional order (FO) PID controllers to handle higher order processes. A new fractional order template for reduced parameter modeling of…
Many studies have found active learning, either in the form of in-class exercises or projects, to be superior to traditional lectures. However, these forms of hands-on learning do not always lead students to reach the higher order thinking…
While deep learning has been very successful in computer vision, real world operating conditions such as lighting variation, background clutter, or occlusion hinder its accuracy across several tasks. Prior work has shown that hybrid models…
In this paper, we present a novel learning-based shared control framework. This framework deploys first-order Dynamical Systems (DS) as motion generators providing the desired reference motion, and a Variable Stiffness Dynamical Systems…
We study the design problems of state observers and tracking controllers for a class of hybrid systems whose state jumps. The idea is to utilize the well-known method of gluing the jump set (a part of domain where the jumps take place) onto…
Humanoid teleoperation plays a vital role in demonstrating and collecting data for complex humanoid-scene interactions. However, current teleoperation systems face critical limitations: they decouple upper- and lower-body control to…
Magneto-optical traps are central to atomic and molecular quantum technologies and precision tests of fundamental physics, where both sensitivity and bandwidth scale strongly with atom number and loading rate. We demonstrate that employing…
An unsupervised online object tracking method that exploits both foreground and background correlations is proposed and named UHP-SOT (Unsupervised High-Performance Single Object Tracker) in this work. UHP-SOT consists of three modules: 1)…
This paper introduces a closed-loop frequency analysis tool for reset control systems. To begin with sufficient conditions for the existence of the steady-state response for a closed-loop system with a reset element and driven by periodic…
Behavior constrained policy optimization has been demonstrated to be a successful paradigm for tackling Offline Reinforcement Learning. By exploiting historical transitions, a policy is trained to maximize a learned value function while…
This paper addresses the problem of tracking the position of a cable-suspended payload carried by an unmanned aerial vehicle, with a focus on real-world deployment and minimal hardware requirements. In contrast to many existing approaches…