Hai Lin

収録論文 39本 ・ フィジカルAI/ロボット学習

※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。

論文

• X-Planner: 身体性知能のためのイベント構造化タスクプランニング
  VLA2026/9/21

  VLAシステムのためのプランニングフロントエンドX-Plannerを提案し、イベント構造化された計画形式と段階的デコーディングで長期的操作タスクの計画品質と実行性能を向上させた。

• OmniRisk: 機敏なクアッドロータの動的回避のための全方向軌道リスク学習
  飛行ロボット2026/9/16

  LiDARの距離パノラマと動的マスク、表面速度を統合したテンソル表現と非対称リスク場を用い、候補軌道のリスクをオフライン学習してオンボードで高速に動的障害物を回避する全方向プランニング手法を提案。

• 大規模行動空間における強化学習のためのアドバンテージベース最適化手法
  強化学習2024/12/17

  大規模行動空間での強化学習において、各次元の行動価値をアドバンテージで調整するABQを提案し、BDQや連続行動ベースラインを上回る性能を示した。

• OpenFMNav: 視覚言語基盤モデルによるオープンセットゼロショット物体ナビゲーション
  ナビゲーション2024/2/1

  大規模言語モデルと視覚言語モデルを活用し、自由形式の指示から未知の物体を探索するゼロショット物体ナビゲーション手法を提案。HM3Dベンチマークで既存手法を上回る性能を達成。

• Estimating Infinite-Dimensional Continuum Robot States From the Tip
  2023/11/1
• Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control
  2023/9/1
• Learning Evacuee Models from Robot-Guided Emergency Evacuation Experiments
  2023/6/1
• Stable Real-Time Feedback Control of a Pneumatic Soft Robot
  2023/4/1
• Full State Estimation of Continuum Robots from Tip Velocities: A Cosserat-Theoretic Boundary Observer
  2023/3/1
• Multi-Robot-Guided Crowd Evacuation: Two-Scale Modeling and Control
  2023/2/1
• Temporal Logic Motion Planning with Convex Optimization via Graphs of Convex Sets
  2023/1/1
• Task Space Tracking of Soft Manipulators: Inner-Outer Loop Control Based on Cosserat-Rod Models
  2022/10/1
• Multi-Robot-Assisted Human Crowd Evacuation using Navigation Velocity Fields
  2022/9/1
• Mixed-Integer Programming for Signal Temporal Logic with Fewer Binary Variables
  2022/4/1
• Robust Approximate Simulation for Hierarchical Control of Piecewise Affine Systems under Bounded Disturbances
  2022/3/1
• PDE-based Dynamic Control and Estimation of Soft Robotic Arms
  2022/3/1
• Contact-Implicit Trajectory Optimization with Hydroelastic Contact and iLQR
  2022/2/1
• Control Barrier Functions for Singularity Avoidance in Passivity-Based Manipulator Control
  2021/9/1
• Mini Cheetah, the Falling Cat: A Case Study in Machine Learning and Trajectory Optimization for Robot Acrobatics
  2021/9/1
• Field Estimation using Robotic Swarms through Bayesian Regression and Mean-Field Feedback
  2021/6/1
• Trajectory Optimization for High-Dimensional Nonlinear Systems under STL Specifications
  2020/11/1
• Automatic Trajectory Synthesis for Real-Time Temporal Logic
  2020/9/1
• Specification mining and automated task planning for autonomous robots based on a graph-based spatial temporal logic
  2020/7/1
• Transporting Robotic Swarms via Mean-Field Feedback Control
  2020/6/1
• Approximate Simulation for Template-Based Whole-Body Control
  2020/6/1
• A Smooth Robustness Measure of Signal Temporal Logic for Symbolic Control
  2020/6/1
• Formal Connections between Template and Anchor Models via Approximate Simulation
  2019/9/1
• Kalman Filtering with Gaussian Processes Measurement Noise
  2019/9/1
• Bayesian Optimization for Polynomial Time Probabilistically Complete STL Trajectory Synthesis
  2019/5/1
• Vector Autoregressive POMDP Model Learning and Planning for Human-Robot Collaboration
  2019/4/1
• Toward Verifiable Real-Time Obstacle Motion Prediction for Dynamic Collision Avoidance
  2018/11/1
• POMDP Model Learning for Human Robot Collaboration
  2018/3/1
• Scalable Integrated Task and Motion Planning from Signal Temporal Logic Specifications
  2018/3/1
• Reactive Integrated Mission and Motion planning
  2017/11/1
• A Learning Based Optimal Human Robot Collaboration with Linear Temporal Logic Constraints
  2017/6/1
• Distributed Communication-aware Motion Planning for Multi-agent Systems from STL and SpaTeL Specifications
  2017/5/1
• SafeGuardPF: Safety Guaranteed Reactive Potential Fields for Mobile Robots in Unknown and Dynamic Environments
  2016/9/1
• Combined Top-Down and Bottom-Up Approaches to Performance-guaranteed Integrated Task and Motion Planning of Cooperative Multi-agent Systems
  2016/7/1
• Formal Design of Robot Integrated Task and Motion Planning
  2016/4/1