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Wei Zhang
393 publications
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Ayonga Hereid
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Terrence C. Stewart
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∙ 08/28/2023

Towards Standardized Disturbance Rejection Testing of Legged Robot Locomotion with Linear Impactor: A Preliminary Study, Observations, and Implications

Dynamic locomotion in legged robots is close to industrial collaboration...

0 Bowen Weng, et al. ∙

∙ 06/26/2023

A Diversity Analysis of Safety Metrics Comparing Vehicle Performance in the Lead-Vehicle Interaction Regime

Vehicle performance metrics analyze data sets consisting of subject vehi...

0 Harnarayan Singh, et al. ∙

∙ 09/20/2022

Rethink the Adversarial Scenario-based Safety Testing of Robots: the Comparability and Optimal Aggressiveness

This paper studies the class of scenario-based safety testing algorithms...

0 Bowen Weng, et al. ∙

∙ 04/16/2022

On Safety Testing, Validation, and Characterization with Scenario-Sampling: A Case Study of Legged Robots

The dynamic response of the legged robot locomotion is non-Lipschitz and...

0 Bowen Weng, et al. ∙

∙ 02/17/2022

A Formal Safety Characterization of Advanced Driver Assist Systems in the Car-Following Regime with Scenario-Sampling

The capability to follow a lead-vehicle and avoid rear-end collisions is...

0 Bowen Weng, et al. ∙

∙ 11/15/2021

A Finite-Sampling, Operational Domain Specific, and Provably Unbiased Connected and Automated Vehicle Safety Metric

A connected and automated vehicle safety metric determines the performan...

0 Bowen Weng, et al. ∙

∙ 10/05/2021

A Formal Characterization of Black-Box System Safety Performance with Scenario Sampling

A typical scenario-based evaluation framework seeks to characterize a bl...

0 Bowen Weng, et al. ∙

∙ 04/19/2021

Towards Guaranteed Safety Assurance of Automated Driving Systems with Scenario Sampling: An Invariant Set Perspective (Extended Version)

How many scenarios are sufficient to validate the safe Operational Desig...

0 Bowen Weng, et al. ∙

∙ 03/29/2021

Robust Feedback Motion Policy Design Using Reinforcement Learning on a 3D Digit Bipedal Robot

In this paper, a hierarchical and robust framework for learning bipedal ...

0 Guillermo A. Castillo, et al. ∙

∙ 09/25/2020

A Modeled Approach for Online Adversarial Test of Operational Vehicle Safety

The scenario-based testing of operational vehicle safety presents a set ...

0 Linda Capito, et al. ∙

∙ 08/02/2020

Velocity Regulation of 3D Bipedal Walking Robots with Uncertain Dynamics Through Adaptive Neural Network Controller

This paper presents a neural-network based adaptive feedback control str...

0 Guillermo A. Castillo, et al. ∙

∙ 07/30/2020

Momentum Q-learning with Finite-Sample Convergence Guarantee

Existing studies indicate that momentum ideas in conventional optimizati...

8 Bowen Weng, et al. ∙

∙ 07/15/2020

Analysis of Q-learning with Adaptation and Momentum Restart for Gradient Descent

Existing convergence analyses of Q-learning mostly focus on the vanilla ...

0 Bowen Weng, et al. ∙

∙ 05/20/2020

Model Predictive Instantaneous Safety Metric for Evaluation of Automated Driving Systems

Vehicles with Automated Driving Systems (ADS) operate in a high-dimensio...

0 Bowen Weng, et al. ∙

∙ 10/24/2019

Reciprocal Collision Avoidance for General Nonlinear Agents using Reinforcement Learning

Finding feasible and collision-free paths for multiple nonlinear agents ...

0 Hao Li, et al. ∙

∙ 10/03/2019

Hybrid Zero Dynamics Inspired Feedback Control Policy Design for 3D Bipedal Locomotion using Reinforcement Learning

This paper presents a novel model-free reinforcement learning (RL) frame...

10 Guillermo A. Castillo, et al. ∙

∙ 05/07/2019

Accelerated Target Updates for Q-learning

This paper studies accelerations in Q-learning algorithms. We propose an...

0 Bowen Weng, et al. ∙

∙ 10/03/2018

Reinforcement Learning Meets Hybrid Zero Dynamics: A Case Study for RABBIT

The design of feedback controllers for bipedal robots is challenging due...

0 Guillermo A. Castillo, et al. ∙

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