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Walking in Narrow Spaces: Safety-critical Locomotion Control for Quadrupedal Robots with Duality-based Optimization


Dec 29, 2022
Qiayuan Liao, Zhongyu Li, Akshay Thirugnanam, Jun Zeng, Koushil Sreenath

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Distantly-Supervised Named Entity Recognition with Adaptive Teacher Learning and Fine-grained Student Ensemble


Dec 13, 2022
Xiaoye Qu, Jun Zeng, Daizong Liu, Zhefeng Wang, Baoxing Huai, Pan Zhou

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* Accepted at AAAI 2023 

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Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions


Oct 09, 2022
Shuo Liu, Jun Zeng, Koushil Sreenath, Calin A. Belta

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Collaborative Navigation and Manipulation of a Cable-towed Load by Multiple Quadrupedal Robots


Jun 29, 2022
Chenyu Yang, Guo Ning Sue, Zhongyu Li, Lizhi Yang, Haotian Shen, Yufeng Chi, Akshara Rai, Jun Zeng, Koushil Sreenath

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* Extended version of the manuscript accepted to IEEE Robotics and Automation Letters (RA-L) 2022 

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Adapting Rapid Motor Adaptation for Bipedal Robots


May 30, 2022
Ashish Kumar, Zhongyu Li, Jun Zeng, Deepak Pathak, Koushil Sreenath, Jitendra Malik

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* First two authors contributed equally. Website at https://ashish-kmr.github.io/a-rma/ 

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Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models


May 11, 2022
Zhongyu Li, Jun Zeng, Akshay Thirugnanam, Koushil Sreenath

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* Accepted in Proceedings of Robotics: Science and Systems 2022 (RSS 2022) 

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Bayesian Optimization Meets Hybrid Zero Dynamics: Safe Parameter Learning for Bipedal Locomotion Control


Mar 04, 2022
Lizhi Yang, Zhongyu Li, Jun Zeng, Koushil Sreenath

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* Accepted to 2022 International Conference on Robotics and Automation (ICRA 2022) 

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Competitive Car Racing with Multiple Vehicles using a Parallelized Optimization with Safety Guarantee


Dec 13, 2021
Suiyi He, Jun Zeng, Koushil Sreenath

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* 8 pages (long version), a brief version submitted to 2022 International Conference on Robotics and Automation (ICRA) 

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A Fast Computational Optimization for Control and Trajectory Planning for Obstacle Avoidance between Polytopes


Oct 03, 2021
Akshay Thirugnanam, Jun Zeng, Koushil Sreenath

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* submitted to IEEE International Conference on Robotics and Automation (ICRA 2022) 

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A Fast Computational Optimization for Optimal Control and Trajectory Planning for Obstacle Avoidance between Polytopes


Sep 25, 2021
Akshay Thirugnanam, Jun Zeng, Koushil Sreenath

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* submitted to IEEE International Conference on Robotics and Automation (ICRA 2022) 

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