arXiv subjects

Huijun Gao

Publications and source records attributed to Huijun Gao.

15 recordsLinked to original sources

arXiv2026

Preserving Full 6-DOF Actuation Under Abrupt Total Rotor Failures: Passive Fault-Tolerant Flight Control Using a Biaxial-Tilt Hexacopter

Abrupt total rotor failures can invalidate nominal allocation despite remaining wrench capability. This paper develops an allocator-layer passive fault-tolerant control (AL-PFTC) scheme for overactuated vector-thrust aerial vehicles. Analysis of convexified attainable force and torque spaces at horizontal hover compares biaxial- and uniaxial-tilt configurations and screens fault cases using prescribed reserve thresholds. Instantaneous wrench loss relative to these reserves characterizes the initial redistribution burden. AL-PFTC adapts the allocation matrix using a virtual error derived from filtered wrench commands and an onboard external wrench estimate, with adaptive parameter bounds constructed from right inverses. Joint analysis including estimator residuals and filter dynamics establishes local uniform ultimate boundedness for position and attitude regulation under the stated conditions. Controller-layer passive fault-tolerant control (CL-PFTC) provides a reference with nominal allocation and observer compensation. Both share a nominal tracking baseline and run at 600 Hz on an STM32H753 without explicit fault identification, fault-mode switching, or online optimization. Comparisons show that AL-PFTC satisfies the recovery criterion in more tested hovering cases than CL-PFTC. Additional experiments using only onboard sensing, including indoor tracking under wind disturbance, outdoor tracking under wind and low-temperature conditions, narrow-frame traversal, and contact-based aerial writing, further validate the robustness of AL-PFTC in complex operational environments.

cs.RO↗

arXiv2026

Minute-Scale Training for Microrobot Navigation

Microrobots hold significant potential for various applications, where targeted navigation is a basic requirement. Deep reinforcement learning (DRL) has recently emerged as a powerful paradigm for fully autonomous microrobot navigation. Yet, current DRL-based approaches pay limited attention to learning efficiency and effectiveness, requiring hours to days for model training. Consequently, this impedes both rapid practical deployment and parameter optimization. To address these challenges, we present a learning framework that enables effective microrobot navigation policies to be trained within minutes. In the proposed framework, we develop a fully vectorized simulator with more than 10,000 artificial vascular environments, parallelizing dynamics, LiDAR-inspired perception, and feasibility checks across thousands of environments to achieve roughly 190,000 transitions per second. To achieve effectiveness in fast training, we propose a task-shaping-regularization (TSR) reward framework. The TSR framework accelerates convergence, improves final performance, reduces action variation by at least 33.7%, and increases obstacle clearance by at least 2.1% across all evaluated scenarios. Results show that the proposed learning framework reduces training time to under 10 minutes, while supporting zero-shot deployment across distinct microrobot types and navigation scenarios. Collectively, this framework can substantially shorten the design loop and accelerate the deployment of autonomous microrobots.

cs.RO↗

arXiv2025

Humanoid Locomotion and Manipulation: Current Progress and Challenges in Control, Planning, and Learning

Humanoid robots hold great potential to perform various human-level skills, involving unified locomotion and manipulation in real-world settings. Driven by advances in machine learning and the strength of existing model-based approaches, these capabilities have progressed rapidly, but often separately. This survey offers a comprehensive overview of the state-of-the-art in humanoid locomotion and manipulation (HLM), with a focus on control, planning, and learning methods. We first review the model-based methods that have been the backbone of humanoid robotics for the past three decades. We discuss contact planning, motion planning, and whole-body control, highlighting the trade-offs between model fidelity and computational efficiency. Then the focus is shifted to examine emerging learning-based methods, with an emphasis on reinforcement and imitation learning that enhance the robustness and versatility of loco-manipulation skills. Furthermore, we assess the potential of integrating foundation models with humanoid embodiments to enable the development of generalist humanoid agents. This survey also highlights the emerging role of tactile sensing, particularly whole-body tactile feedback, as a crucial modality for handling contact-rich interactions. Finally, we compare the strengths and limitations of model-based and learning-based paradigms from multiple perspectives, such as robustness, computational efficiency, versatility, and generalizability, and suggest potential solutions to existing challenges.

cs.RO↗

arXiv2025

Certificated Actor-Critic: Hierarchical Reinforcement Learning with Control Barrier Functions for Safe Navigation

Control Barrier Functions (CBFs) have emerged as a prominent approach to designing safe navigation systems of robots. Despite their popularity, current CBF-based methods exhibit some limitations: optimization-based safe control techniques tend to be either myopic or computationally intensive, and they rely on simplified system models; conversely, the learning-based methods suffer from the lack of quantitative indication in terms of navigation performance and safety. In this paper, we present a new model-free reinforcement learning algorithm called Certificated Actor-Critic (CAC), which introduces a hierarchical reinforcement learning framework and well-defined reward functions derived from CBFs. We carry out theoretical analysis and proof of our algorithm, and propose several improvements in algorithm implementation. Our analysis is validated by two simulation experiments, showing the effectiveness of our proposed CAC algorithm.

cs.RO↗

arXiv2025

AttriReBoost: A Gradient-Free Propagation Optimization Method for Cold Start Mitigation in Attribute Missing Graphs

Missing attribute issues are prevalent in the graph learning, leading to biased outcomes in Graph Neural Networks (GNNs). Existing methods that rely on feature propagation are prone to cold start problem, particularly when dealing with attribute resetting and low-degree nodes, which hinder effective propagation and convergence. To address these challenges, we propose AttriReBoost (ARB), a novel method that incorporates propagation-based method to mitigate cold start problems in attribute-missing graphs. ARB enhances global feature propagation by redefining initial boundary conditions and strategically integrating virtual edges, thereby improving node connectivity and ensuring more stable and efficient convergence. This method facilitates gradient-free attribute reconstruction with lower computational overhead. The proposed method is theoretically grounded, with its convergence rigorously established. Extensive experiments on several real-world benchmark datasets demonstrate the effectiveness of ARB, achieving an average accuracy improvement of 5.11% over state-of-the-art methods. Additionally, ARB exhibits remarkable computational efficiency, processing a large-scale graph with 2.49 million nodes in just 16 seconds on a single GPU. Our code is available at https://github.com/limengran98/ARB.

cs.LG↗

arXiv2024

Safety-critical Control with Control Barrier Functions: A Hierarchical Optimization Framework

The control barrier function (CBF) has become a fundamental tool in safety-critical systems design since its invention. Typically, the quadratic optimization framework is employed to accommodate CBFs, control Lyapunov functions (CLFs), other constraints and nominal control design. However, the constrained optimization framework involves hyper-parameters to tradeoff different objectives and constraints, which, if not well-tuned beforehand, impact system performance and even lead to infeasibility. In this paper, we propose a hierarchical optimization framework that decomposes the multi-objective optimization problem into nested optimization sub-problems in a safety-first approach. The new framework addresses potential infeasibility on the premise of ensuring safety and performance as much as possible and applies easily in multi-certificate cases. With vivid visualization aids, we systematically analyze the advantages of our proposed method over existing QP-based ones in terms of safety, feasibility and convergence rates. Moreover, two numerical examples are provided that verify our analysis and show the superiority of our proposed method.

math.OC↗

arXiv2023

Characterising User Transfer Amid Industrial Resource Variation: A Bayesian Nonparametric Approach

In a multitude of industrial fields, a key objective entails optimising resource management whilst satisfying user requirements. Resource management by industrial practitioners can result in a passive transfer of user loads across resource providers, a phenomenon whose accurate characterisation is both challenging and crucial. This research reveals the existence of user clusters, which capture macro-level user transfer patterns amid resource variation. We then propose CLUSTER, an interpretable hierarchical Bayesian nonparametric model capable of automating cluster identification, and thereby predicting user transfer in response to resource variation. Furthermore, CLUSTER facilitates uncertainty quantification for further reliable decision-making. Our method enables privacy protection by functioning independently of personally identifiable information. Experiments with simulated and real-world data from the communications industry reveal a pronounced alignment between prediction results and empirical observations across a spectrum of resource management scenarios. This research establishes a solid groundwork for advancing resource management strategy development.

cs.LG↗

arXiv2022

Representation Separation for Semantic Segmentation with Vision Transformers

Vision transformers (ViTs) encoding an image as a sequence of patches bring new paradigms for semantic segmentation.We present an efficient framework of representation separation in local-patch level and global-region level for semantic segmentation with ViTs. It is targeted for the peculiar over-smoothness of ViTs in semantic segmentation, and therefore differs from current popular paradigms of context modeling and most existing related methods reinforcing the advantage of attention. We first deliver the decoupled two-pathway network in which another pathway enhances and passes down local-patch discrepancy complementary to global representations of transformers. We then propose the spatially adaptive separation module to obtain more separate deep representations and the discriminative cross-attention which yields more discriminative region representations through novel auxiliary supervisions. The proposed methods achieve some impressive results: 1) incorporated with large-scale plain ViTs, our methods achieve new state-of-the-art performances on five widely used benchmarks; 2) using masked pre-trained plain ViTs, we achieve 68.9% mIoU on Pascal Context, setting a new record; 3) pyramid ViTs integrated with the decoupled two-pathway network even surpass the well-designed high-resolution ViTs on Cityscapes; 4) the improved representations by our framework have favorable transferability in images with natural corruptions. The codes will be released publicly.

cs.CV↗

arXiv2022

Monocular 3D Object Detection with Sequential Feature Association and Depth Hint Augmentation

Monocular 3D object detection, with the aim of predicting the geometric properties of on-road objects, is a promising research topic for the intelligent perception systems of autonomous driving. Most state-of-the-art methods follow a keypoint-based paradigm, where the keypoints of objects are predicted and employed as the basis for regressing the other geometric properties. In this work, a unified network named as FADNet is presented to address the task of monocular 3D object detection. In contrast to previous keypoint-based methods, we propose to divide the output modalities into different groups according to the estimation difficulty of object properties. Different groups are treated differently and sequentially associated by a convolutional Gated Recurrent Unit. Another contribution of this work is the strategy of depth hint augmentation. To provide characterized depth patterns as hints for depth estimation, a dedicated depth hint module is designed to generate row-wise features named as depth hints, which are explicitly supervised in a bin-wise manner. The contributions of this work are validated by conducting experiments and ablation study on the KITTI benchmark. Without utilizing depth priors, post optimization, or other refinement modules, our network performs competitively against state-of-the-art methods while maintaining a decent running speed.

cs.CV↗

arXiv2021

A CRF-based Framework for Tracklet Inactivation in Online Multi-Object Tracking

Online multi-object tracking (MOT) is an active research topic in the domain of computer vision. Although many previously proposed algorithms have exhibited decent results, the issue of tracklet inactivation has not been sufficiently studied. Simple strategies such as using a fixed threshold on classification scores are adopted, yielding undesirable tracking mistakes and limiting the overall performance. In this paper, a conditional random field (CRF) based framework is put forward to tackle the tracklet inactivation issue in online MOT problems. A discrete CRF which exploits the intra-frame relationship between tracking hypotheses is developed to improve the robustness of tracklet inactivation. Separate sets of feature functions are designed for the unary and binary terms in the CRF, which take into account various tracking challenges in practical scenarios. To handle the problem of varying CRF nodes in the MOT context, two strategies named as hypothesis filtering and dummy nodes are employed. In the proposed framework, the inference stage is conducted by using the loopy belief propagation algorithm, and the CRF parameters are determined by utilizing the maximum likelihood estimation method followed by slight manual adjustment. Experimental results show that the tracker combined with the CRF-based framework outperforms the baseline on the MOT16 and MOT17 benchmarks. The extensibility of the proposed framework is further validated by an extensive experiment.

cs.CV↗

arXiv2021

Feedback-based Digital Higher-order Terminal Sliding Mode for 6-DOF Industrial Manipulators

The precise motion control of a multi-degree of freedom~(DOF) robot manipulator is always challenging due to its nonlinear dynamics, disturbances, and uncertainties. Because most manipulators are controlled by digital signals, a novel higher-order sliding mode controller in the discrete-time form with time delay estimation is proposed in this paper. The dynamic model of the manipulator used in the design allows proper handling of nonlinearities, uncertainties and disturbances involved in the problem. Specifically, parametric uncertainties and disturbances are handled by the time delay estimation and the nonlinearity of the manipulator is addressed by the feedback structure of the controller. The combination of terminal sliding mode surface and higher-order control scheme in the controller guarantees a fast response with a small chattering amplitude. Moreover, the controller is designed with a modified sliding mode surface and variable-gain structure, so that the performance of the controller is further enhanced. We also analyze the condition to guarantee the stability of the closed-loop system in this paper. Finally, the simulation and experimental results prove that the proposed control scheme has a precise performance in a robot manipulator system.

cs.RO↗

arXiv2021

Practical Fractional-Order Variable-Gain Super-Twisting Control with Application to Wafer Stages of Photolithography Systems

In this paper, a practical fractional-order variable-gain super-twisting algorithm (PFVSTA) is proposed to improve the tracking performance of wafer stages for semiconductor manufacturing. Based on the sliding mode control (SMC), the proposed PFVSTA enhances the tracking performance from three aspects: 1) alleviating the chattering phenomenon via super-twisting algorithm and a novel fractional-order sliding surface~(FSS) design, 2) improving the dynamics of states on the sliding surface with fast response and small overshoots via the designed novel FSS and 3) compensating for disturbances via variable-gain control law. Based on practical conditions, this paper analyzes the stability of the controller and illustrates the theoretical principle to compensate for the uncertainties caused by accelerations. Moreover, numerical simulations prove the effectiveness of the proposed sliding surface and control scheme, and they are in agreement with the theoretical analysis. Finally, practice-based comparative experiments are conducted. The results show that the proposed PFVSTA can achieve much better tracking performance than the conventional methods from various perspectives.

eess.SY↗

arXiv2021

Precise Motion Control of Wafer Stages via Adaptive Neural Network and Fractional-Order Super-Twisting Algorithm

To obtain precise motion control of wafer stages, an adaptive neural network and fractional-order super-twisting control strategy is proposed. Based on sliding mode control (SMC), the proposed controller aims to address two challenges in SMC: 1) reducing the chattering phenomenon, and 2) attenuating the influence of model uncertainties and disturbances. For the first challenge, a fractional-order terminal sliding mode surface and a super-twisting algorithm are integrated into the SMC design. To attenuate uncertainties and disturbances, an add-on control structure based on the radial basis function (RBF) neural network is introduced. Stability analysis of the closed-loop control system is provided. Finally, experiments on a wafer stage testbed system are conducted, which proves that the proposed controller can robustly improve the tracking performance in the presence of uncertainties and disturbances compared to conventional and previous controllers.

eess.SY↗

arXiv2020

Adaptive Fast Smooth Second-Order Sliding Mode Control for Attitude Tracking of a 3-DOF Helicopter

This paper presents a novel adaptive fast smooth second-order sliding mode control for the attitude tracking of the three degree-of-freedom (3-DOF) helicopter system with lumped disturbances. Combining with a non-singular integral sliding mode surface, we propose a novel adaptive fast smooth second-order sliding mode control method to enable elevation and pitch angles to track given desired trajectories respectively with the features of non-singularity, adaptation to disturbances, chattering suppression and fast finite-time convergence. In addition, a novel adaptive-gain smooth second-order sliding mode observer is proposed to compensate time-varying lumped disturbances with the smoother output compared with the adaptive-gain second-order sliding mode observer. The fast finite-time convergence of the closed-loop system with constant disturbances and the fast finite-time uniformly ultimately boundedness of the closed-loop system with the time-varying lumped disturbances are proved with the finite-time Lyapunov stability theory. Finally, the effectiveness and superiority of the proposed control methods are verified by comparative simulation experiments.

eess.SY↗

arXiv2020

Distributed velocity-constrained consensus of discrete-time multi-agent systems with nonconvex constraints, switching topologies, and delays

In this paper, a distributed velocity-constrained consensus problem is studied for discrete-time multi-agent systems, where each agent's velocity is constrained to lie in a nonconvex set. A distributed constrained control algorithm is proposed to enable all agents to converge to a common point using only local information. {The gains of the algorithm for all agents need not to be the same or predesigned and can be adjusted by each agent itself based on its own and neighbors' information.} It is shown that the algorithm is robust to arbitrarily bounded communication delays and arbitrarily switching communication graphs provided that the union of the graphs has directed spanning trees among each certain time interval. The analysis approach is based on multiple novel model transformations, proper control parameter selections, boundedness analysis of state-dependent stochastic matrices, exploitation of the convexity of stochastic matrices, and the joint connectivity of the communication graphs. Numerical examples are included to illustrate the theoretical results.

math.OC↗