相关论文: SafeFlowMatcher: Safe and Fast Planning using Flow…
Safety is a fundamental requirement of control systems. Control Barrier Functions (CBFs) are proposed to ensure the safety of the control system by constructing safety filters or synthesizing control inputs. However, the safety guarantee…
Effective robot navigation in unseen environments is a challenging task that requires precise control actions at high frequencies. Recent advances have framed it as an image-goal-conditioned control problem, where the robot generates…
This paper considers the general problem of transitioning theoretically safe controllers to hardware. Concretely, we explore the application of control barrier functions (CBFs) to sampled-data systems: systems that evolve continuously but…
Guaranteeing the safety of controllers is vital for real-world applications, but is markedly difficult when the states are not perfectly known and when the control inputs are bounded. Backup control barrier functions (bCBFs) use predictions…
Control Barrier Functions (CBFs) have emerged as a powerful tool in the design of safety-critical controllers for nonlinear systems. In modern applications, complex systems often involve the feedback interconnection of subsystems evolving…
Accurate emulation of multi-scale physical systems governed by PDEs demands models that remain stable over long autoregressive rollouts while preserving fine-scale structures. Deterministic emulators produce overly-smoothed predictions,…
Adaptive control provides closed-loop stability and reference tracking for uncertain dynamical systems through online parameter adaptation. These properties alone, however, do not ensure safety in the sense of forward invariance of state…
Accurate trajectory prediction and motion planning are crucial for autonomous driving systems to navigate safely in complex, interactive environments characterized by multimodal uncertainties. However, current generation-then-evaluation…
Modern nonlinear control theory seeks to endow systems with properties of stability and safety, and have been deployed successfully in multiple domains. Despite this success, model uncertainty remains a significant challenge in synthesizing…
Safe control designs for robotic systems remain challenging because of the difficulties of explicitly solving optimal control with nonlinear dynamics perturbed by stochastic noise. However, recent technological advances in computing devices…
Transformers are central to advances in artificial intelligence (AI), excelling in fields ranging from computer vision to natural language processing. Despite their success, their large parameter count and computational demands challenge…
As a powerful technique in generative modeling, Flow Matching (FM) aims to learn velocity fields from noise to data, which is often explained and implemented as solving Optimal Transport (OT) problems. In this study, we bridge FM and the…
Control barrier functions provide a powerful means for synthesizing safety filters that ensure safety framed as forward set invariance. Key to CBFs' effectiveness is the simple inequality on the system dynamics: $\dot{h} \geq - \alpha(h)$.…
Safety filters based on control barrier functions (CBFs) have become a popular method to guarantee safety for uncertified control policies, e.g., as resulting from reinforcement learning. Here, safety is defined as staying in a pre-defined…
Learning-based optical flow estimation has been dominated with the pipeline of cost volume with convolutions for flow regression, which is inherently limited to local correlations and thus is hard to address the long-standing challenge of…
The flow matching has rapidly become a dominant paradigm in classical generative modeling, offering an efficient way to interpolate between two complex distributions. We extend this idea to the quantum realm and introduce the Quantum Flow…
We derive a controlled generation objective within the framework of Variational Flow Matching (VFM), which casts flow matching as a variational inference problem. We demonstrate that controlled generation can be implemented two ways: (1) by…
Flow matching has demonstrated strong generative capabilities and has become a core component in modern Text-to-Speech (TTS) systems. To ensure high-quality speech synthesis, Classifier-Free Guidance (CFG) is widely used during the…
This paper presents a framework for designing provably safe feedback controllers for sampled-data control affine systems with measurement and actuation uncertainties. Based on the interval Taylor model of nonlinear functions, a sampled-data…
High-speed trajectory planning through unknown environments requires algorithmic techniques that enable fast reaction times while maintaining safety as new information about the operating environment is obtained. The requirement of…