Haoyu Zhang

Yu Zhang, Long Cheng, Xiuze Xia et al.

Robots are increasingly being deployed not only in workplaces but also in households. Effectively execute of manipulation tasks by robots relies on variable impedance control with contact forces. Furthermore, robots should possess adaptive capabilities to handle the considerable variations exhibited by different robotic tasks in dynamic environments, which can be obtained through human demonstrations. This paper presents a learning-from-demonstration framework that integrates force sensing and motion information to facilitate variable impedance control. The proposed approach involves the estimation of full stiffness matrices from human demonstrations, which are then combined with sensed forces and motion information to create a model using the non-parametric method. This model allows the robot to replicate the demonstrated task while also responding appropriately to new task conditions through the use of the state-dependent stiffness profile. Additionally, a novel tank based variable impedance control approach is proposed to ensure passivity by using the learned stiffness. The proposed approach was evaluated using two virtual variable stiffness systems. The first evaluation demonstrates that the stiffness estimated approach exhibits superior robustness compared to traditional methods when tested on manual datasets, and the second evaluation illustrates that the novel tank based approach is more easily implementable compared to traditional variable impedance control approaches.

Yu Zhang, Yongxiang Zou, Haoyu Zhang et al.

In the field of autonomous systems, accurately predicting the trajectories of nearby vehicles and pedestrians is crucial for ensuring both safety and operational efficiency. This paper introduces a novel methodology for trajectory forecasting based on state-space dynamic system modeling, which endows agents with models that have tangible physical implications. To enhance the precision of state estimations within the dynamic system, the paper also presents a novel modeling technique for control variables. This technique utilizes a newly introduced model, termed "Mixed Mamba," to derive initial control states, thereby improving the predictive accuracy of these variables. Moverover, the proposed approach ingeniously integrates graph neural networks with state-space models, effectively capturing the complexities of multi-agent interactions. This combination provides a robust and scalable framework for forecasting multi-agent trajectories across a range of scenarios. Comprehensive evaluations demonstrate that this model outperforms several established benchmarks across various metrics and datasets, highlighting its significant potential to advance trajectory forecasting in autonomous systems.