arXiv subjects

Wei-Chen Li

Publications and source records attributed to Wei-Chen Li.

5 recordsLinked to original sources

arXiv2026

Robustness without Wrinkles: Parallel Simulation and Robust MPC for Certified Deformable Manipulation

We present CORD-SLS, a real-time control method for safe deformable object manipulation, with a focus on ropes and cloth. At its core is a GPU-parallel differentiable simulator with contact smoothing which enables efficient gradient-based planning through intermittent contact. To robustly satisfy constraints under model and sensing uncertainty, we develop a real-time, GPU-parallel output-feedback robust model predictive control (MPC) algorithm that plans with this simulator. We further show that the simulator accelerates model-based RL for training neural manipulation policies. To improve real-world robustness, we use conformal prediction to calibrate visual-feedback and perception-error bounds for MPC, producing reachable tubes that enable high-probability safe control. We evaluate CORD-SLS on high-dimensional, contact-rich rope and cloth manipulation tasks in simulation and hardware, including obstacle avoidance, routing, folding, and smoothing. Across settings, CORD-SLS achieves millisecond-speed planning, exceeding baselines in safety, speed, and task success.

cs.RO↗

arXiv2026

Certified Gradient-Based Contact-Rich Manipulation via Smoothing-Error Reachable Tubes

Gradient-based methods can efficiently optimize controllers by leveraging differentiable simulation and physical priors. However, contact-rich manipulation remains challenging because hybrid contact dynamics often produce discontinuous or vanishing gradients. Although smoothing the dynamics can restore informative gradients, the resulting model mismatch can cause controller failures when deployed on real systems. We address this trade-off by planning with smoothed dynamics while explicitly quantifying and compensating for the induced error, providing formal guarantees on safety and task completion under the original nonsmooth dynamics. Our approach applies smoothing to both contact dynamics and contact geometry within a differentiable simulator based on convex optimization, allowing us to characterize the deviation from the nonsmooth dynamics as a set-valued discrepancy. We incorporate this discrepancy into the optimization of time-varying affine feedback policies through analytical reachable sets, enabling robust constraint satisfaction for the closed-loop hybrid system while relying solely on the informative gradients of the smoothed model. By bridging differentiable simulation with set-valued robust control, our method produces affine feedback policies that respect the unilateral nature of contact. We evaluate our method on several contact-rich tasks, including planar pushing, object rotation, and in-hand dexterous manipulation, achieving certified constraint satisfaction with lower safety violations and smaller goal errors than baseline approaches.

cs.RO↗

arXiv2025

A Convex Formulation of Compliant Contact between Filaments and Rigid Bodies

We present a computational framework for simulating filaments interacting with rigid bodies through contact. Filaments are challenging to simulate due to their codimensionality, i.e., they are one-dimensional structures embedded in three-dimensional space. Existing methods often assume that filaments remain permanently attached to rigid bodies. Our framework unifies discrete elastic rod (DER) modeling, a pressure field patch contact model, and a convex contact formulation to accurately simulate frictional interactions between slender filaments and rigid bodies - capabilities not previously achievable. Owing to the convex formulation of contact, each time step can be solved to global optimality, guaranteeing complementarity between contact velocity and impulse. We validate the framework by assessing the accuracy of frictional forces and comparing its physical fidelity against baseline methods. Finally, we demonstrate its applicability in both soft robotics, such as a stochastic filament-based gripper, and deformable object manipulation, such as shoelace tying, providing a versatile simulator for systems involving complex filament-filament and filament-rigid body interactions.

cs.RO↗

arXiv2024

Extension of compressive sampling to binary vector recovery for model-based defect imaging

Common imaging techniques for detecting structural defects typically require sampling at more than twice the spatial frequency to achieve a target resolution. This study introduces a novel framework for imaging structural defects using significantly fewer samples. In this framework, defects are modeled as regions where physical properties shift from their nominal values to resemble those of air, and a linear approximation is formulated to relate these binary shifts in physical properties with corresponding changes in measurements. Recovering a binary vector from linear measurements is generally an NP-hard problem. To address this challenge, this study proposes two algorithmic approaches. The first approach relaxes the binary constraint, using convex optimization to find a solution. The second approach incorporates a binary-inducing prior and employs approximate Bayesian inference to estimate the posterior probability of the binary vector given the measurements. Both algorithmic approaches demonstrate better performance compared to existing compressive sampling methods for binary vector recovery. The framework's effectiveness is illustrated through examples of eddy current sensing to image defects in metal structures.

eess.SP↗

arXiv2022

Experimental recycling of Bell nonlocality with projective measurements

As a way of saving quantum resources, recycling of Bell nonlocality has been experimentally studied, but restricted to sequential unsharp measurements. However, it has been theoretically shown recently that projective measurements are sufficient for recycling nonlocality [Phys. Rev. Lett. \textbf{129}, 230402 (2022)]. Here, we go beyond unsharp measurement scenarios and experimentally demonstrate the recycling of nonlocal resources with projective measurements. By verifying the violation of Clauser-Horne-Shimony-Holt (CHSH) inequality, we find that three independent parties can recycle the Bell nonlocality of a two-qubit state, whether it is maximally or partially entangled. Furthermore, in the double violation region, the optimal trade-off for partially entangled states can be 11 standard deviations better than that for maximally entangled states. Our results experimentally eliminate the common misconception that projective measurements are incompatible with the recycling of quantum correlations. In addition, our nonlocality recycling setup does not require entanglement assistance, which is much more experimentally friendly, thus paving the way for the reuse of other kinds of quantum correlations.

quant-ph↗