相关论文: WheelCon: A wheel control-based gaming platform fo…
We address the challenge of developing a generalizable neural tracking controller for dexterous manipulation from human references. This controller aims to manage a dexterous robot hand to manipulate diverse objects for various purposes…
Mobility systems are complex socio-technical environments influenced by multiple stakeholders with hierarchically interdependent decisions, rendering effective control and policy design inherently challenging. We bridge hierarchical…
Autonomous driving evaluation requires simulation environments that closely replicate actual road conditions, including real-world sensory data and responsive feedback loops. However, many existing simulations need to predict waypoints…
Planetary exploration missions require robots capable of navigating extreme and unknown environments. While wheeled rovers have dominated past missions, their mobility is limited to traversable surfaces. Legged robots, especially…
Learning-based model predictive control has emerged as a powerful approach for handling complex dynamics in mechatronic systems, enabling data-driven performance improvements while respecting safety constraints. However, when computational…
Understanding driver interactions is critical to designing autonomous vehicles to interoperate safely with human-driven cars. We consider the impact of these interactions on the policies drivers employ when navigating unsigned intersections…
Human-AI shared control allows human to interact and collaborate with AI to accomplish control tasks in complex environments. Previous Reinforcement Learning (RL) methods attempt the goal-conditioned design to achieve human-controllable…
Learning from real-world robot demonstrations holds promise for interacting with complex real-world environments. However, the complexity and variability of interaction dynamics often cause purely positional controllers to struggle with…
Humans and animals developed a sophisticated motor control apparatus and there is much evidence that it has a modular structure. The modularity offers a range of benefits, e.g. ability to learn dissociable motion styles without interference…
Coordinated human movement depends on the integration of multisensory inputs, sensorimotor transformation, and motor execution, as well as sensory feedback resulting from body-environment interaction. Building dynamic models of the…
Lightweight, controllable, and physically plausible human motion synthesis is crucial for animation, virtual reality, robotics, and human-computer interaction applications. Existing methods often compromise between computational efficiency,…
This paper proposes a feedback control perspective for Human-Earth Systems (HESs) which essentially are complex systems that capture the interactions between humans and nature. Recent attention in HES research has been directed towards…
Reflection is a critical aspect of the learning process. However, educational games tend to focus on supporting learning concepts rather than supporting reflection. While reflection occurs in educational games, the educational game design…
A standard motion control with feedback of the output displacement cannot handle unforeseen contact with environment without penetrating into the soft, i.e. viscoelastic, materials or even damaging the fragile materials. Robotics and…
Wheeled bipedal robots have garnered increasing attention in exploration and inspection. However, most research simplifies calculations by ignoring leg dynamics, thereby restricting the robot's full motion potential. Additionally, robots…
Closing feedback loops fast and over long distances is key to emerging applications; for example, robot motion control and swarm coordination require update intervals of tens of milliseconds. Low-power wireless technology is preferred for…
This study offers an in-depth analysis of smart wheelchair (SW) systems, charting their progression from early developments to future innovations. It delves into various Brain-Computer Interface (BCI) systems, including mu rhythm,…
This paper investigates the car-following problem and proposes a nonlinear controller that considers driving comfort, safety concerns, steady-state response and transient response. This controller is designed based on the demands of lower…
Intelligent Transportation Systems (ITS) increasingly rely on vision-based perception and learning-based control, necessitating experimental platforms that support realistic hardware-in-the-loop validation. Small-scale platforms for…
Simulation has played an important role in efficiently evaluating self-driving vehicles in terms of scalability. Existing methods mostly rely on heuristic-based simulation, where traffic participants follow certain human-encoded rules that…