Xiaofeng Tao — Papers on Cortexa

arxiveess.SY2026-07-17

Dynamic Constraint Reconstruction Based Control Barrier Functions for Safety-Critical Control of High-Dimensional Manipulators

Bingsheng Zhang, Shen Wang, Qiang Wang, Muguo Du, Donghai Shi, Xiaofeng Tao

Control barrier functions (CBFs) provide formal safety guarantees for constrained nonlinear systems, but their effectiveness relies on accurate system dynamics. In high-dimensional manipulators subject to unknown disturbances and model uncertainties, fixed safety constraints cons…

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arxivcs.ROeess.SY2026-07-17

Learning a System-Level Surrogate for Hydraulic Excavators: A Simulation-to-Real LSTM Approach

Shuai Wang, Shen Wang, Qiang Wang, Muguo Du, Donghai Shi, Chenyu Wang, et al.

Developing autonomous hydraulic excavators is constrained by limited access to physical machines and the high cost of real-world experimentation. This paper proposes a simulation-to-real framework for learning a system-level digital surrogate using Long Short-Term Memory (LSTM) n…

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