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SyDeBO: Symbolic-Decision-Embedded Bilevel Optimization for Long-Horizon Manipulation in Dynamic Environments

Oct 23, 2020
Zhigen Zhao, Ziyi Zhou, Michael Park, Ye Zhao

* 9 pages, 11 figures, submitted to IEEE Robotics and Automation Letters 

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Robust Trajectory Optimization over Uncertain Terrain with Stochastic Complementarity

Sep 25, 2020
Luke Drnach, Ye Zhao

* 8 pages, 6 figures, submitted to RA-L 2020 

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Towards Safe Locomotion Navigation in Partially Observable Environments with Uneven Terrain

Sep 10, 2020
Jonas Warnke, Abdulaziz Shamsah, Yingke Li, Ye Zhao

* 9 pages, 8 figures, IEEE Conference on Decision and Control 

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Interactive Visual Study of Multiple Attributes Learning Model of X-Ray Scattering Images

Sep 03, 2020
Xinyi Huang, Suphanut Jamonnak, Ye Zhao, Boyu Wang, Minh Hoai, Kevin Yager, Wei Xu

* IEEE Transactions on Visualization & Computer Graphics 2020 
* IEEE SciVis Conference 2020 

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Simultaneous Trajectory Optimization and Force Control with Soft Contact Mechanics

Apr 21, 2020
Lasitha Wijayarathne, Qie Sima, Ziyi Zhou, Ye Zhao, Frank L. Hammond III

* 7 pages, Submitted to IROS 2020 (under review) 

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Accelerated ADMM based Trajectory Optimization for Legged Locomotion with Coupled Rigid Body Dynamics

Mar 18, 2020
Ziyi Zhou, Ye Zhao

* American Control Conference (ACC), 2020 

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Visual Understanding of Multiple Attributes Learning Model of X-Ray Scattering Images

Oct 10, 2019
Xinyi Huang, Suphanut Jamonnak, Ye Zhao, Boyu Wang, Minh Hoai, Kevin Yager, Wei Xu

* 5 pages, 2 figures, ICCV conference co-held XAIC workshop 2019 

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Distributed Impedance Control of Latency-Prone Robotic Systems with Series Elastic Actuation

Nov 27, 2018
Ye Zhao, Luis Sentis

* 24 pages, 16 figures. arXiv admin note: text overlap with arXiv:1501.02854 

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Reactive Task and Motion Planning for Robust Whole-Body Dynamic Locomotion in Constrained Environments

Nov 11, 2018
Ye Zhao, Yinan Li, Luis Sentis, Ufuk Topcu, Jun Liu

* 47 pages, 23 figures, 1 table 

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Robust Optimal Planning and Control of Non-Periodic Bipedal Locomotion with A Centroidal Momentum Model

Aug 19, 2017
Ye Zhao, Benito R. Fernandez, Luis Sentis

* 43 pages, 22 figures, journal, International Journal of Robotics Research, 2017. arXiv admin note: substantial text overlap with arXiv:1701.05929, arXiv:1511.04628 

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A Planning and Control Framework for Humanoid Systems: Robust, Optimal, and Real-time Performance

Jan 20, 2017
Ye Zhao

* 299 pages, PhD dissertation, UT Austin, 2016 

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A Framework for Planning and Controlling Non-Periodic Bipedal Locomotion

Nov 14, 2015
Ye Zhao, Benito R. Fernandez, Luis Sentis

* 33 pages, 18 figures, journal 

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Assessing Whole-Body Operational Space Control in a Point-Foot Series Elastic Biped: Balance on Split Terrain and Undirected Walking

Jan 13, 2015
Donghyun Kim, Ye Zhao, Gray Thomas, Luis Sentis

* 17 pages, 9 figures, 4 tables 

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Stability and Performance Limits of Latency-Prone Distributed Feedback Controllers

Jan 13, 2015
Ye Zhao, Nicholas Paine, Kwan Suk Kim, Luis Sentis

* 13 pages, 10 figures, 2 tables, 31 reference 

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