Author

Li-Hua Xie

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Preprint Oct 2026

Resilient Angle-Constrained Formation Control and Localization Under DoS Attacks (Extended Version)

A resilient simultaneous localization and formation control (RSLAF) scheme is developed that combines a finite-time distributed observer, which estimates the exosystem matrices and states under asynchronous DoS attacks, with a perturbation-based localization law that prevents localization from getting stuck at degenera...

Nhat-Minh Le-Phan, Ziliang Lyu, Li-Hua Xie · 0 citations

Preprint Oct 2026

DexForge: High-Fidelity Physics-Informed Dexterous Retargeting

Human demonstrations offer rich examples of precise dexterous manipulation and a promising source of robot training data. However, high-fidelity reproduction of demonstrated motions and hand-object interactions across robot embodiments remains challenging under physical constraints. We present DexForge, a differentiabl...

Mei-Zhong Wang, Kun Cao, Rui-Qi Ni et al. · 0 citations