arXiv subjects

Xiayan Xu

Publications and source records attributed to Xiayan Xu.

3 recordsLinked to original sources

arXiv2026

SixthSense: Task-Agnostic Proprioception-Only Whole-Body Wrench Estimation for Humanoids

Humanoid robots are entering our physical world at scale, yet as oversized toys--good at singing and dancing, but short on force-interaction capabilities for practical tasks. Bridging this gap necessitates prioritizing reliable contact perception as a fundamental requirement. Estimating external wrenches in humanoids is complicated by floating-base dynamics and indeterminate contact locations. Existing analytical frameworks require idealistic assumptions and hard-to-obtain measurements, which are often unavailable in practice. To bridge this gap, we propose SixthSense, a task-agnostic approach that infers whole-body contact timing, location, and wrenches from proprioception and IMU data alone. To capture the multi-modal dynamics between unstructured contact inputs and the uncertain motion outputs, we employ conditional flow matching to tokenize proprioceptive histories and estimate a spatiotemporally sparse contact-event flow. SixthSense serves as a plug-and-play perception module for applications including collision detection, physical human-robot interaction, and force-feedback teleoperation. Experiments across standing, walking, and whole-body motion-tracking policies showcased unprecedented performance in diverse behaviors.

cs.RO↗

arXiv2025

Event-triggered Dual Gradient Tracking for Distributed Resource Allocation

High communication costs create a major bottleneck for distributed resource allocation over unbalanced directed networks. Conventional dual gradient tracking methods, while effective for problems on unbalanced digraphs, rely on periodic communication that creates significant overhead in resource-constrained networks. This paper introduces a novel event-triggered dual gradient tracking algorithm to mitigate this limitation, wherein agents communicate only when local state deviations surpass a predefined threshold. We establish comprehensive convergence guarantees for this approach. First, we prove sublinear convergence for non-convex dual objectives and linear convergence under the Polyak-{\L}ojasiewicz condition. Building on this, we demonstrate that the proposed algorithm achieves sublinear convergence for general strongly convex cost functions and linear convergence for those that are also Lipschitz-smooth. Numerical experiments confirm that our event-triggered method significantly reduces communication events compared to periodic schemes while preserving comparable convergence performance.

eess.SY↗

arXiv2024

Interior-Point-based H2 Controller Synthesis for Compartmental Systems

This paper addresses the problem of the optimal $H_2$ controller design for compartmental systems. In other words, we aim to enhance system robustness while maintaining the law of mass conservation. We perform a novel problem transformation and establish that the original problem is equivalent to an new optimization problem with a closed polyhedron constraint. Existing works have developed various first-order methods to tackle inequality constraints. However, the performance of the first-order method is limited in terms of convergence speed and precision, restricting its potential in practical applications. Therefore, developing a novel algorithm with fast speed and high precision is critical. In this paper, we reformulate the problem using log-barrier functions and introduce two separate approaches to address the problem: the first-order interior point method (FIPM) and the second-order interior point method (SIPM). We show they converge to a stationary point of the new problem. In addition, we propose an initialization method to guarantee the interior property of initial values. Finally, we compare FIPM and SIPM through a room temperature control example and show their pros and cons.

math.OC↗