2025
Imperative MPC: An End-to-End Self-Supervised Learning with Differentiable MPC for UAV Attitude Control.
CoRR, April, 2025

Flying Hand: End-Effector-Centric Framework for Versatile Aerial Manipulation Teleoperation and Policy Learning.
CoRR, April, 2025

A Self-Supervised Learning Approach with Differentiable Optimization for UAV Trajectory Planning.
CoRR, April, 2025

AirIO: Learning Inertial Odometry with Enhanced IMU Feature Observability.
CoRR, January, 2025

2024
Flying Calligrapher: Contact-Aware Motion and Force Planning and Control for Aerial Manipulation.
IEEE Robotics Autom. Lett., December, 2024

iKap: Kinematics-aware Planning with Imperative Learning.
CoRR, 2024

Imperative Learning: A Self-supervised Neural-Symbolic Learning Framework for Robot Autonomy.
CoRR, 2024

A Unified MPC Strategy for a Tilt-rotor VTOL UAV Towards Seamless Mode Transitioning.
CoRR, 2024

Aerial Interaction with Tactile Sensing.
Proceedings of the IEEE International Conference on Robotics and Automation, 2024

2023
Off-Policy Evaluation With Online Adaptation for Robot Exploration in Challenging Environments.
IEEE Robotics Autom. Lett., June, 2023

The Impact of Time Step Frequency on the Realism of Robotic Manipulation Simulation for Objects of Different Scales.
CoRR, 2023

PyPose v0.6: The Imperative Programming Interface for Robotics.
CoRR, 2023

Learning Koopman Operators with Control Using Bi-level Optimization.
CoRR, 2023

Image-Based Visual Servo Control for Aerial Manipulation Using a Fully-Actuated UAV.
IROS, 2023

Intention Aware Robot Crowd Navigation with Attention-Based Interaction Graph.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Hierarchical Intention Tracking for Robust Human-Robot Collaboration in Industrial Assembly Tasks.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023

PyPose: A Library for Robot Learning with Physics-based Optimization.
Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2023

Learning Koopman Operators with Control Using Bi-Level Optimization.
Proceedings of the 62nd IEEE Conference on Decision and Control, 2023

Decentralized Formation Control With Prescribed Distance Constraints and Shape Uniqueness.
Proceedings of the American Control Conference, 2023

2022
Load-Distribution-Based Trajectory Planning and Control for a Multilift System.
J. Aerosp. Inf. Syst., May, 2022

Robotic Depowdering for Additive Manufacturing Via Pose Tracking.
IEEE Robotics Autom. Lett., 2022

iCaps: Iterative Category-Level Object Pose and Shape Estimation.
IEEE Robotics Autom. Lett., 2022

UAS Simulator for Modeling, Analysis and Control in Free Flight and Physical Interaction.
CoRR, 2022

PyPose: A Library for Robot Learning with Physics-based Optimization.
CoRR, 2022

Seamless Interaction Design with Coexistence and Cooperation Modes for Robust Human-Robot Collaboration.
CoRR, 2022

VTOL Failure Detection and Recovery by Utilizing Redundancy.
CoRR, 2022

Insights from an Industrial Collaborative Assembly Project: Lessons in Research and Collaboration.
CoRR, 2022

Socially Aware Robot Crowd Navigation with Interaction Graphs and Human Trajectory Prediction.
CoRR, 2022

Design, Modeling and Control for a Tilt-rotor VTOL UAV in the Presence of Actuator Failure.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Robust Output Feedback MPC with Reduced Conservatism under Ellipsoidal Uncertainty.
Proceedings of the 61st IEEE Conference on Decision and Control, 2022

2020
Efficient and Interpretable Deep Blind Image Deblurring Via Algorithm Unrolling.
IEEE Trans. Computational Imaging, 2020

Bio-inspired Inverted Landing Strategy in a Small Aerial Robot Using Policy Gradient.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

2019
An Algorithm Unrolling Approach to Deep Blind Image Deblurring.
CoRR, 2019