Author

Yi-Ding Ji

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Preprint Oct 2026

Prescribed Performance Guided Safe Reinforcement Learning for Roundabout Navigation of Autonomous Vehicles

This work proposes RLTrajGen-PPMPC-CBF, a hierarchical framework for safe, smooth and comfort roundabout navigation, which regulates the coupling between RL-based planning and MPC-based control, and employs Prescribed Performance Constraints (PPC) to enforce a gradual, stable convergence between reference trajectories...

Wen-Han Li, Yang-Rui Zhang, Hang Zhou et al. · 0 citations

Preprint Aug 2026

Embodied Multimodal Grounding for Open-Vocabulary Mobile Manipulation via Semantic 3D Gaussian Splatting

Results indicate that explicit, refreshable 3D semantic grounding can improve robustness under clutter, occlusion, viewpoint variation, and embodiment constraints.

Huosen Ou, Dong-Ni Song, Yuncong Wang et al. · 0 citations