Wei Xiao

Learning Dialogue Representations from Consecutive Utterances

2022 · arXiv (Cornell University)

Learning high-quality dialogue representations is essential for solving a variety of dialogue-oriented tasks, especially considering that dialogue systems often suffer from data scarcity. In this paper, we introduce Dialogue Sentence Embedding (DSE), a self-supervised contrastive …

BarrierNet: Differentiable Control Barrier Functions for Learning of Safe Robot Control

2023 · IEEE Transactions on Robotics

Many safety-critical applications of neural networks, such as robotic control, require safety guarantees. This article introduces a method for ensuring the safety of learned models for control using differentiable control barrier functions (dCBFs). dCBFs are …

EIQP: Execution-time-certified and Infeasibility-detecting QP Solver

2025 · arXiv (Cornell University)

Solving real-time quadratic programming (QP) is a ubiquitous task in control engineering, such as in model predictive control and control barrier function-based QP. In such real-time scenarios, certifying that the employed QP algorithm can either …

Tracking control of industrial manipulator based on adaptive RBF neural network with local model approximation

2026 · Scientific Reports

A Lyapunov-stability-guaranteed local model adaptive RBF neural network control algorithm is proposed for industrial robots. This algorithm eliminates the need for an exact plant mathematical model, enabling real-time learning and compensation of system nonlinearities and …