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09/19/2023
Hamilton-Jacobi Reachability Analysis for Hybrid Systems with Controlled and Forced Transitions
Hybrid dynamical systems with non-linear dynamics are one of the most ge...
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08/30/2023
Segmenting mechanically heterogeneous domains via unsupervised learning
From biological organs to soft robotics, highly deformable materials are...
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07/08/2023
Adaptive Force-Based Control of Dynamic Legged Locomotion over Uneven Terrain
Agile-legged robots have proven to be highly effective in navigating and...
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05/01/2023
Cross-Institutional Transfer Learning for Educational Models: Implications for Model Performance, Fairness, and Equity
Modern machine learning increasingly supports paradigms that are multi-i...
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03/12/2023
Hierarchical Adaptive Control for Collaborative Manipulation of a Rigid Object by Quadrupedal Robots
Despite the potential benefits of collaborative robots, effective manipu...
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03/10/2023
Learning Multimodal Bipedal Locomotion and Implicit Transitions: A Versatile Policy Approach
In this paper, we propose a novel framework for synthesizing a single mu...
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03/09/2023
Kinodynamics-based Pose Optimization for Humanoid Loco-manipulation
This paper presents a novel approach for controlling humanoid robots pus...
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01/11/2023
Adversarial Online Multi-Task Reinforcement Learning
We consider the adversarial online multi-task reinforcement learning set...
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11/20/2022
FedDCT: Federated Learning of Large Convolutional Neural Networks on Resource Constrained Devices using Divide and Co-Training
We introduce FedDCT, a novel distributed learning paradigm that enables ...
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10/21/2022
Local Bayesian optimization via maximizing probability of descent
Local optimization presents a promising approach to expensive, high-dime...
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10/07/2022
Contact Optimization for Non-Prehensile Loco-Manipulation via Hierarchical Model Predictive Control
Recent studies on quadruped robots have focused on either locomotion or ...
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09/27/2022
Hierarchical Adaptive Loco-manipulation Control for Quadruped Robots
Legged robots have shown remarkable advantages in navigating uneven terr...
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09/18/2022
Dynamic Walking of Bipedal Robots on Uneven Stepping Stones via Adaptive-frequency MPC
This paper presents a novel Adaptive-frequency MPC framework for bipedal...
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09/18/2022
Multi-contact MPC for Dynamic Loco-manipulation on Humanoid Robots
This paper presents a novel method to control humanoid robot dynamic loc...
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04/03/2022
Continuous Jumping for Legged Robots on Stepping Stones via Trajectory Optimization and Model Predictive Control
Performing highly agile dynamic motions, such as jumping or running, ove...
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02/08/2022
Nonmyopic Multiclass Active Search for Diverse Discovery
Active search is a setting in adaptive experimental design where we aim ...
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10/13/2021
Contact-timing and Trajectory Optimization for 3D Jumping on Quadruped Robots
Performing highly agile acrobatic motions with a long flight phase requi...
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09/21/2021
Balancing Control and Pose Optimization for Wheel-legged Robots Navigating Uneven Terrains
In this paper, we propose a novel approach on controlling wheel-legged q...
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08/04/2021
Lachesis: Scalable Asynchronous BFT on DAG Streams
This paper consolidates the core technologies and key concepts of our no...
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06/11/2021
Nonmyopic Multifidelity Active Search
Active search is a learning paradigm where we seek to identify as many m...
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03/31/2021
Force-and-moment-based Model Predictive Control for Achieving Highly Dynamic Locomotion on Bipedal Robots
In this paper, we propose a novel framework on force-and-moment-based Mo...
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03/11/2021
Robust High-speed Running for Quadruped Robots via Deep Reinforcement Learning
Deep reinforcement learning has emerged as a popular and powerful way to...
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11/14/2020
Locomotion and Control of a Friction-Driven Tripedal Robot
This letter considers control of a radially symmetric tripedal friction-...
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11/13/2020
Robust Quadruped Jumping via Deep Reinforcement Learning
In this paper we consider a general task of jumping varying distances an...
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11/13/2020
Safe and Robust Motion Planning for Dynamic Robotics via Control Barrier Functions
Control Barrier Functions (CBF) are widely used to enforce the safety-cr...
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11/12/2020
Adaptive Force-based Control for Legged Robots
In this paper, we present a novel methodology to introduce adaptive cont...
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10/16/2020
Active Visual Analytics: Assisted Data Discovery in Interactive Visualizations via Active Search
We propose the Active Visual Analytics technique (ActiveVA), an augmenta...
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05/14/2020
Optimal Robust Safety-Critical Control for Dynamic Robotics
We present a novel method of optimal robust control through quadratic pr...
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04/09/2020
OV: Validity-based Optimistic Smart Contracts
Smart contract (SC) platforms form blocks of transactions into a chain a...
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02/08/2020
On Probabilistic Byzantine Fault Tolerance
Byzantine fault tolerance (BFT) has been extensively studied in distribu...
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11/12/2019
Fast Stochastic Peer Selection in Proof-of-Stake Protocols
The problem of peer selection, which randomly selects a peer from a set,...
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08/29/2019
StairDag: Cross-DAG Validation For Scalable BFT Consensus
This paper introduces a new consensus protocol, so-called , for fast con...
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07/05/2019
StakeDag: Stake-based Consensus For Scalable Trustless Systems
Trustless systems, such as those blockchain enpowered, provide trust in ...
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05/13/2019
ONLAY: Online Layering for scalable asynchronous BFT system
This paper presents a new framework, namely , for scalable asynchronous ...
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10/22/2018
Fantom: A scalable framework for asynchronous distributed systems
We describe Fantom, a framework for asynchronous distributed systems. Fa...
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10/04/2018
OPERA: Reasoning about continuous common knowledge in asynchronous distributed systems
This paper introduces a new family of consensus protocols, namely Laches...
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12/04/2017
Deep Visual Perception for Dynamic Walking on Discrete Terrain
Dynamic bipedal walking on discrete terrain, like stepping stones, is a ...
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08/29/2017
Drawing Big Graphs using Spectral Sparsification
Spectral sparsification is a general technique developed by Spielman et ...
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02/20/2017