Yicheng Zeng — Papers on Cortexa

arxivcs.ROmath.OC2026-07-18

ADMM-Based Safety-Critical Distributed NMPC for Cooperative Transportation by Quadrupedal Robots

Ruturaj S. Sambhus, Kapi Ketan Mehta, Yicheng Zeng, Kaveh Akbari Hamed

This paper presents a safety-critical distributed nonlinear model predictive control (DNMPC) framework for cooperative payload transportation by teams of quadrupedal robots. The proposed approach models the robotic team and the shared payload as a dynamically coupled networked sy…

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arxivcs.LGstat.ML2026-07-05

A Unified Framework for In-Context Learning with Causal and Masked Language Models

Chenrui Liu, Chuanlong Xie, Falong Tan, Yicheng Zeng, Lixing Zhu

In-context learning (ICL) has emerged as a central capability of pretrained language models, yet its theoretical analysis has focused primarily on causal language models trained by left-to-right autoregressive prediction, such as GPT-style models. Masked language models instead r…

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