Jun Ma

According to our database, Jun Ma authored at least 150 papers between 2015 and 2025.

Collaborative distances:

• Dijkstra number of four.
• Erdős number of four.

2025

G2-SDF: Geometry-Guided Neural Signed Distance Fields for Scalable and Detailed Reconstruction.

Kai Chen, Jiahang Cao, Yulin Li, Haoang Li, Jun Ma

IEEE Robotics Autom. Lett., August, 2025

DACA-Net: A Degradation-Aware Conditional Diffusion Network for Underwater Image Enhancement.

Chang Huang, Jiahang Cao, Jun Ma, Kieren Yu, Cong Li, Huayong Yang, Kaishun Wu

CoRR, July, 2025

FLORES: A Reconfigured Wheel-Legged Robot for Enhanced Steering and Adaptability.

Zhicheng Song, Jinglan Xu, Chunxin Zheng, Yulin Li, Zhihai Bi, Jun Ma

CoRR, July, 2025

VLM-UDMC: VLM-Enhanced Unified Decision-Making and Motion Control for Urban Autonomous Driving.

Haichao Liu, Haoren Guo, Pei Liu, Benshan Ma, Yuxiang Zhang, Jun Ma, Tong Heng Lee

CoRR, July, 2025

Fast and Scalable Game-Theoretic Trajectory Planning with Intentional Uncertainties.

Zhenmin Huang, Yusen Xie, Benshan Ma, Shaojie Shen, Jun Ma

CoRR, July, 2025

Bilevel Multi-Armed Bandit-Based Hierarchical Reinforcement Learning for Interaction-Aware Self-Driving at Unsignalized Intersections.

Zengqi Peng, Yubin Wang, Lei Zheng, Jun Ma

IEEE Trans. Veh. Technol., June, 2025

CurbNet: Curb Detection Framework Based on LiDAR Point Cloud Segmentation.

Guoyang Zhao, Fulong Ma, Weiqing Qi, Yuxuan Liu, Ming Liu, Jun Ma

IEEE Trans. Intell. Transp. Syst., June, 2025

Monocular 3D Lane Detection for Autonomous Driving: Recent Achievements, Challenges, and Outlooks.

Fulong Ma, Weiqing Qi, Guoyang Zhao, Linwei Zheng, Sheng Wang, Yuxuan Liu, Ming Liu, Jun Ma

IEEE Trans. Intell. Transp. Syst., June, 2025

UDMC: Unified Decision-Making and Control Framework for Urban Autonomous Driving With Motion Prediction of Traffic Participants.

Haichao Liu, Kai Chen, Yulin Li, Zhenmin Huang, Ming Liu, Jun Ma

IEEE Trans. Intell. Transp. Syst., May, 2025

Local Reactive Control for Mobile Manipulators With Whole-Body Safety in Complex Environments.

Chunxin Zheng, Yulin Li, Zhiyuan Song, Zhihai Bi, Jinni Zhou, Boyu Zhou, Jun Ma

IEEE Robotics Autom. Lett., May, 2025

Synergizing Decision Making and Trajectory Planning Using Two-Stage Optimization for Autonomous Vehicles.

Wenru Liu, Haichao Liu, Lei Zheng, Zhenmin Huang, Jun Ma

IEEE Trans. Veh. Technol., April, 2025

A Universal Cooperative Decision-Making Framework for Connected Autonomous Vehicles With Generic Road Topologies.

Zhenmin Huang, Wenru Liu, Shaojie Shen, Jun Ma

IEEE Trans. Veh. Technol., April, 2025

FRTree Planner: Robot Navigation in Cluttered and Unknown Environments With Tree of Free Regions.

Yulin Li, Zhicheng Song, Chunxin Zheng, Zhihai Bi, Kai Chen, Michael Yu Wang, Jun Ma

IEEE Robotics Autom. Lett., April, 2025

FERMI: Flexible Radio Mapping with a Hybrid Propagation Model and Scalable Autonomous Data Collection.

Yiming Luo, Yunfei Wang, Hongming Chen, Chengkai Wu, Ximin Lyu, Jinni Zhou, Jun Ma, Fu Zhang, Boyu Zhou

CoRR, April, 2025

ApexNav: An Adaptive Exploration Strategy for Zero-Shot Object Navigation with Target-centric Semantic Fusion.

Mingjie Zhang, Yuheng Du, Chengkai Wu, Jinni Zhou, Zhenchao Qi, Jun Ma, Boyu Zhou

CoRR, April, 2025

Safe Motion Planning for Multi-Vehicle Autonomous Driving in Uncertain Environment.

Zhezhi Lei, Wenxin Wang, Zicheng Zhu, Jun Ma, Shuzhi Sam Ge

IEEE Robotics Autom. Lett., March, 2025

Semi-SD: Semi-Supervised Metric Depth Estimation via Surrounding Cameras for Autonomous Driving.

Yusen Xie, Zhengmin Huang, Shaojie Shen, Jun Ma

CoRR, March, 2025

AKF-LIO: LiDAR-Inertial Odometry with Gaussian Map by Adaptive Kalman Filter.

Xupeng Xie, Ruoyu Geng, Jun Ma, Boyu Zhou

CoRR, March, 2025

Occlusion-Aware Consistent Model Predictive Control for Robot Navigation in Occluded Obstacle-Dense Environments.

Minzhe Zheng, Lei Zheng, Lei Zhu, Jun Ma

CoRR, March, 2025

Fair Play in the Fast Lane: Integrating Sportsmanship into Autonomous Racing Systems.

Zhenmin Huang, Ce Hao, Wei Zhan, Jun Ma, Masayoshi Tomizuka

CoRR, March, 2025

Accelerating Vision-Language-Action Model Integrated with Action Chunking via Parallel Decoding.

Wenxuan Song, Jiayi Chen, Pengxiang Ding, Han Zhao, Wei Zhao, Zhide Zhong, Zongyuan Ge, Jun Ma, Haoang Li

CoRR, March, 2025

RoboDexVLM: Visual Language Model-Enabled Task Planning and Motion Control for Dexterous Robot Manipulation.

Haichao Liu, Sikai Guo, Pengfei Mai, Jiahang Cao, Haoang Li, Jun Ma

CoRR, March, 2025

Interactive Navigation for Legged Manipulators with Learned Arm-Pushing Controller.

Zhihai Bi, Kai Chen, Chunxin Zheng, Yulin Li, Haoang Li, Jun Ma

CoRR, March, 2025

Barrier-Enhanced Parallel Homotopic Trajectory Optimization for Safety-Critical Autonomous Driving.

Lei Zheng, Rui Yang, Michael Yu Wang, Jun Ma

IEEE Trans. Intell. Transp. Syst., February, 2025

VLM-E2E: Enhancing End-to-End Autonomous Driving with Multimodal Driver Attention Fusion.

Pei Liu, Haipeng Liu, Haichao Liu, Xin Liu, Jinxin Ni, Jun Ma

CoRR, February, 2025

Occlusion-Aware Contingency Safety-Critical Planning for Autonomous Vehicles.

Lei Zheng, Rui Yang, Minzhe Zheng, Zengqi Peng, Michael Yu Wang, Jun Ma

CoRR, February, 2025

CoDriveVLM: VLM-Enhanced Urban Cooperative Dispatching and Motion Planning for Future Autonomous Mobility on Demand Systems.

Haichao Liu, Ruoyu Yao, Wenru Liu, Zhenmin Huang, Shaojie Shen, Jun Ma

CoRR, January, 2025

LearningFlow: Automated Policy Learning Workflow for Urban Driving with Large Language Models.

Zengqi Peng, Yubin Wang, Xu Han, Lei Zheng, Jun Ma

CoRR, January, 2025

Tractor Semi-Trailer Off-Tracking and Stability Approximate Bi-Level Policy Optimization.

Fawang Zhang, Jingliang Duan, Hui Liu, Xingyu Cao, Shida Nie, Congshuai Guo, Yujia Xie, Jun Ma, Shangli Wang

IEEE Trans Autom. Sci. Eng., 2025

A Simple Data Augmentation for Feature Distribution Skewed Federated Learning.

Yunlu Yan, Huazhu Fu, Yuexiang Li, Jinheng Xie, Jun Ma, Guang Yang, Lei Zhu

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2025

2024

Collision-Free Trajectory Optimization in Cluttered Environments Using Sums-of-Squares Programming.

Yulin Li, Chunxin Zheng, Kai Chen, Yusen Xie, Xindong Tang, Michael Yu Wang, Jun Ma

IEEE Robotics Autom. Lett., December, 2024

S3E: A Multi-Robot Multimodal Dataset for Collaborative SLAM.

Dapeng Feng, Yuhua Qi, Shipeng Zhong, Zhiqiang Chen, Qiming Chen, Hongbo Chen, Jin Wu, Jun Ma

IEEE Robotics Autom. Lett., December, 2024

Spatiotemporal Receding Horizon Control With Proactive Interaction Towards Autonomous Driving in Dense Traffic.

Lei Zheng, Rui Yang, Zengqi Peng, Michael Yu Wang, Jun Ma

IEEE Trans. Intell. Veh., November, 2024

Improved Consensus ADMM for Cooperative Motion Planning of Large-Scale Connected Autonomous Vehicles With Limited Communication.

Haichao Liu, Zhenmin Huang, Zicheng Zhu, Yulin Li, Shaojie Shen, Jun Ma

IEEE Trans. Intell. Veh., November, 2024

Stackelberg Game-Based Control Design for Fuzzy Underactuated Mechanical Systems With Inequality Constraints.

Zicheng Zhu, Han Zhao, Yuanjie Xian, Ye-Hwa Chen, Hao Sun, Jun Ma

IEEE Trans. Syst. Man Cybern. Syst., October, 2024

Bilateral-Head Region-Based Convolutional Neural Networks: A Unified Approach for Incremental Few-Shot Object Detection.

Yiting Li, Haiyue Zhu, Sichao Tian, Jun Ma, Cheng Xiang, Prahlad Vadakkepat

IEEE Trans. Artif. Intell., September, 2024

Alternating Direction Method of Multipliers-Based Parallel Optimization for Multi-Agent Collision-Free Model Predictive Control.

Zilong Cheng, Jun Ma, Wenxin Wang, Zicheng Zhu, Clarence W. de Silva, Tong Heng Lee

IEEE Trans. Artif. Intell., August, 2024

Data-Driven Linear Quadratic Optimization for Controller Synthesis With Structural Constraints.

Jun Ma, Zilong Cheng, Xiaocong Li, Wenxin Wang, Masayoshi Tomizuka, Tong Heng Lee

IEEE Trans. Cybern., April, 2024

Game-Theoretic Optimization Toward Diffeomorphism-Based Robust Control of Fuzzy Dynamical Systems With State and Input Constraints.

Zicheng Zhu, Jun Ma, Hao Sun, Wenxin Wang, Han Zhao, Tong Heng Lee

IEEE Trans. Fuzzy Syst., February, 2024

Geometry-Aware Safety-Critical Local Reactive Controller for Robot Navigation in Unknown and Cluttered Environments.

Yulin Li, Xindong Tang, Kai Chen, Chunxin Zheng, Haichao Liu, Jun Ma

IEEE Robotics Autom. Lett., 2024

Adaptive robust control for fuzzy underactuated mechanical systems: A Stackelberg game-theoretic optimization approach.

Yuanjie Xian, Jun Ma, Kang Huang, Xiaolong Chen, Wenxin Wang, Abdullah Al Mamun, Tong Heng Lee

Inf. Sci., 2024

Expandable-RCNN: toward high-efficiency incremental few-shot object detection.

Yiting Li, Sichao Tian, Haiyue Zhu, Yeying Jin, Keqing Wang, Jun Ma, Cheng Xiang, Prahlad Vadakkepat

Frontiers Artif. Intell., 2024

CALMM-Drive: Confidence-Aware Autonomous Driving with Large Multimodal Model.

Ruoyu Yao, Yubin Wang, Haichao Liu, Rui Yang, Zengqi Peng, Lei Zhu, Jun Ma

CoRR, 2024

Integrating Decision-Making Into Differentiable Optimization Guided Learning for End-to-End Planning of Autonomous Vehicles.

Wenru Liu, Yongkang Song, Chengzhen Meng, Zhiyu Huang, Haochen Liu, Chen Lv, Jun Ma

CoRR, 2024

PlanScope: Learning to Plan Within Decision Scope Does Matter.

Ren Xin, Jie Cheng, Jun Ma

CoRR, 2024

GS-LIVM: Real-Time Photo-Realistic LiDAR-Inertial-Visual Mapping with Gaussian Splatting.

Yusen Xie, Zhenmin Huang, Jin Wu, Jun Ma

CoRR, 2024

Annotation-Free Curb Detection Leveraging Altitude Difference Image.

Fulong Ma, Peng Hou, Yuxuan Liu, Ming Liu, Jun Ma

CoRR, 2024

Task-Oriented Pre-Training for Drivable Area Detection.

Fulong Ma, Guoyang Zhao, Weiqing Qi, Ming Liu, Jun Ma

CoRR, 2024

Erase, then Redraw: A Novel Data Augmentation Approach for Free Space Detection Using Diffusion Model.

Fulong Ma, Weiqing Qi, Guoyang Zhao, Ming Liu, Jun Ma

CoRR, 2024

A Universal Multi-Vehicle Cooperative Decision-Making Approach in Structured Roads by Mixed-Integer Potential Game.

Chengzhen Meng, Zhenmin Huang, Jun Ma

CoRR, 2024

TSCLIP: Robust CLIP Fine-Tuning for Worldwide Cross-Regional Traffic Sign Recognition.

Guoyang Zhao, Fulong Ma, Weiqing Qi, Chenguang Zhang, Yuxuan Liu, Ming Liu, Jun Ma

CoRR, 2024

FisheyeDepth: A Real Scale Self-Supervised Depth Estimation Model for Fisheye Camera.

Guoyang Zhao, Yuxuan Liu, Weiqing Qi, Fulong Ma, Ming Liu, Jun Ma

CoRR, 2024

Integrated Decision Making and Trajectory Planning for Autonomous Driving Under Multimodal Uncertainties: A Bayesian Game Approach.

Zhenmin Huang, Tong Li, Shaojie Shen, Jun Ma

CoRR, 2024

LMMCoDrive: Cooperative Driving with Large Multimodal Model.

Haichao Liu, Ruoyu Yao, Zhenmin Huang, Shaojie Shen, Jun Ma

CoRR, 2024

Safe and Real-Time Consistent Planning for Autonomous Vehicles in Partially Observed Environments via Parallel Consensus Optimization.

Lei Zheng, Rui Yang, Minzhe Zheng, Michael Yu Wang, Jun Ma

CoRR, 2024

Mamba Policy: Towards Efficient 3D Diffusion Policy with Hybrid Selective State Models.

Jiahang Cao, Qiang Zhang, Jingkai Sun, Jiaxu Wang, Hao Cheng, Yulin Li, Jun Ma, Yecheng Shao, Wen Zhao, Gang Han, Yijie Guo, Renjing Xu

CoRR, 2024

Timeline and Boundary Guided Diffusion Network for Video Shadow Detection.

Haipeng Zhou, Honqiu Wang, Tian Ye, Zhaohu Xing, Jun Ma, Ping Li, Qiong Wang, Lei Zhu

CoRR, 2024

Enhance Planning with Physics-informed Safety Controller for End-to-end Autonomous Driving.

Hang Zhou, Haichao Liu, Hongliang Lu, Dan Xu, Jun Ma, Yiding Ji

CoRR, 2024

Collision-Free Trajectory Optimization in Cluttered Environments with Sums-of-Squares Programming.

Yulin Li, Chunxin Zheng, Kai Chen, Yusen Xie, Xindong Tang, Michael Yu Wang, Jun Ma

CoRR, 2024

Robot Navigation in Unknown and Cluttered Workspace with Dynamical System Modulation in Starshaped Roadmap.

Kai Chen, Haichao Liu, Yulin Li, Jianghua Duan, Lei Zhu, Jun Ma

CoRR, 2024

Barrier-Enhanced Homotopic Parallel Trajectory Optimization for Safety-Critical Autonomous Driving.

Lei Zheng, Rui Yang, Michael Yu Wang, Jun Ma

CoRR, 2024

A Universal Cooperative Decision-Making Framework for Connected Autonomous Vehicles with Generic Road Topologies.

Zhenmin Huang, Shaojie Shen, Jun Ma

CoRR, 2024

Tolerant Tracking Control Protocol for PMSM Based on Policy Iteration Algorithm and Fault Compensation.

Shuya Yan, Xiaocong Li, Huaming Qian, Jun Ma, Abdullah Al Mamun

Proceedings of the Social Robotics - 16th International Conference, 2024

SegmentAnything-Based Approach to Scene Understanding and Grasp Generation.

Songting Liu, Zhezhi Lei, Haiyue Zhu, Jun Ma, Zhiping Lin

Proceedings of the Social Robotics - 16th International Conference, 2024

Enhance Planning with Physics-informed Safety Controller for End-to-end Autonomous Driving.

Hang Zhou, Haichao Liu, Hongliang Lu, Jun Ma, Yiding Ji

Proceedings of the IEEE International Conference on Robotics and Biomimetics, 2024

Robotic Control Optimization Through Kernel Selection in Safe Bayesian Optimization.

Lihao Zheng, Hongxuan Wang, Xiaocong Li, Jun Ma, Prahlad Vadakkepat

Proceedings of the IEEE International Conference on Robotics and Biomimetics, 2024

Learning-Based Subcategory Ground Segmentation Model for LiDAR Point Cloud.

Guoyang Zhao, Fulong Ma, Weiqing Qi, Ming Liu, Jun Ma

Proceedings of the IEEE International Conference on Robotics and Biomimetics, 2024

State Estimation for Wheeled-Legged Robot with Slip Detection.

Jinglan Xu, Zhicheng Song, Chunxin Zheng, Jun Ma

Proceedings of the IEEE International Conference on Robotics and Biomimetics, 2024

RiskMap: A Unified Driving Context Representation for Autonomous Motion Planning in Urban Driving Environment.

Ren Xin, Sheng Wang, Yingbing Chen, Jie Cheng, Ming Liu, Jun Ma

Proceedings of the IEEE International Conference on Robotics and Biomimetics, 2024

CrackSegMamba: A Lightweight Mamba Model for Crack Segmentation.

Weiqing Qi, Fulong Ma, Guoyang Zhao, Ming Liu, Jun Ma

Proceedings of the IEEE International Conference on Robotics and Biomimetics, 2024

Timeline and Boundary Guided Diffusion Network for Video Shadow Detection.

Haipeng Zhou, Hongqiu Wang, Tian Ye, Zhaohu Xing, Jun Ma, Ping Li, Qiong Wang, Lei Zhu

Proceedings of the 32nd ACM International Conference on Multimedia, MM 2024, Melbourne, VIC, Australia, 28 October 2024, 2024

Incremental Learning-Based Real-Time Trajectory Prediction for Autonomous Driving via Sparse Gaussian Process Regression.

Haichao Liu, Kai Chen, Jun Ma

Proceedings of the IEEE Intelligent Vehicles Symposium, 2024

Integrated Intention Prediction and Decision-Making with Spectrum Attention Net and Proximal Policy Optimization.

Xiao Zhou, Chengzhen Meng, Wenru Liu, Zengqi Peng, Ming Liu, Jun Ma

Proceedings of the 27th IEEE International Conference on Intelligent Transportation Systems, 2024

A Translation-Tolerant Place Recognition Method by Viewpoint Unification.

Linwei Zheng, Xiangcheng Hu, Fulong Ma, Guoyang Zhao, Weiqing Qi, Jun Ma, Ming Liu

Proceedings of the 27th IEEE International Conference on Intelligent Transportation Systems, 2024

CLRKDNet: Speeding Up Lane Detection with Knowledge Distillation.

Weiqing Qi, Guoyang Zhao, Fulong Ma, Linwei Zheng, Jun Ma, Ming Liu

Proceedings of the 27th IEEE International Conference on Intelligent Transportation Systems, 2024

A Generic Trajectory Planning Method for Constrained All-Wheel-Steering Robots.

Ren Xin, Hongji Liu, Yingbing Chen, Jie Cheng, Sheng Wang, Jun Ma, Ming Liu

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024

MCGMapper: Light-Weight Incremental Structure from Motion and Visual Localization with Planar Markers and Camera Groups.

Yusen Xie, Zhenmin Huang, Kai Chen, Lei Zhu, Jun Ma

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024

Arm-Constrained Curriculum Learning for Loco-Manipulation of a Wheel-Legged Robot.

Zifan Wang, Yufei Jia, Lu Shi, Haoyu Wang, Haizhou Zhao, Xueyang Li, Jinni Zhou, Jun Ma, Guyue Zhou

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024

Reward-Driven Automated Curriculum Learning for Interaction-Aware Self-Driving at Unsignalized Intersections.

Zengqi Peng, Xiao Zhou, Lei Zheng, Yubin Wang, Jun Ma

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024

Every Dataset Counts: Scaling up Monocular 3D Object Detection with Joint Datasets Training.

Fulong Ma, Xiaoyang Yan, Guoyang Zhao, Xiaojie Xu, Yuxuan Liu, Jun Ma, Ming Liu

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024

Chance-Aware Lane Change with High-Level Model Predictive Control Through Curriculum Reinforcement Learning.

Yubin Wang, Yulin Li, Zengqi Peng, Hakim Ghazzai, Jun Ma

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

Parallel Optimization with Hard Safety Constraints for Cooperative Planning of Connected Autonomous Vehicles.

Zhenmin Huang, Haichao Liu, Shaojie Shen, Jun Ma

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

Incremental Bayesian Learning for Fail-Operational Control in Autonomous Driving.

Lei Zheng, Rui Yang, Zengqi Peng, Wei Yan, Michael Yu Wang, Jun Ma

Proceedings of the European Control Conference, 2024

2023

Decentralized iLQR for Cooperative Trajectory Planning of Connected Autonomous Vehicles via Dual Consensus ADMM.

Zhenmin Huang, Shaojie Shen, Jun Ma

IEEE Trans. Intell. Transp. Syst., November, 2023

Incremental few-shot learning via implanting and consolidating.

Yiting Li, Haiyue Zhu, Jun Ma, Cheng Xiang, Prahlad Vadakkepat

Neurocomputing, November, 2023

Local Learning Enabled Iterative Linear Quadratic Regulator for Constrained Trajectory Planning.

Jun Ma, Zilong Cheng, Xiaoxue Zhang, Ziyu Lin, Frank L. Lewis, Tong Heng Lee

IEEE Trans. Neural Networks Learn. Syst., September, 2023

Policy-Iteration-Based Finite-Horizon Approximate Dynamic Programming for Continuous-Time Nonlinear Optimal Control.

Ziyu Lin, Jingliang Duan, Shengbo Eben Li, Haitong Ma, Jie Li, Jianyu Chen, Bo Cheng, Jun Ma

IEEE Trans. Neural Networks Learn. Syst., September, 2023

Policy Iteration Based Approximate Dynamic Programming Toward Autonomous Driving in Constrained Dynamic Environment.

Ziyu Lin, Jun Ma, Jingliang Duan, Shengbo Eben Li, Haitong Ma, Bo Cheng, Tong Heng Lee

IEEE Trans. Intell. Transp. Syst., May, 2023

Robust Fixed-Order Controller Design for Uncertain Systems With Generalized Common Lyapunov Strictly Positive Realness Characterization.

Jun Ma, Haiyue Zhu, Xiaocong Li, Wenxin Wang, Clarence W. de Silva, Tong Heng Lee

IEEE Trans. Syst. Man Cybern. Syst., March, 2023

On Symmetric Gauss-Seidel ADMM Algorithm for H∞ Guaranteed Cost Control With Convex Parameterization.

Jun Ma, Zilong Cheng, Xiaoxue Zhang, Masayoshi Tomizuka, Tong Heng Lee

IEEE Trans. Syst. Man Cybern. Syst., 2023

Hybrid Active-Passive Robust Control Framework of a Flexure-Joint Dual-Drive Gantry Robot for High-Precision Contouring Tasks.

Wenxin Wang, Jun Ma, Xiaocong Li, Haiyue Zhu, Clarence W. de Silva, Tong Heng Lee

IEEE Trans. Ind. Electron., 2023

Robust Constraint-Following Control for Uncertain Mechanical Systems With Generalized Udwadia-Kalaba Approach.

Zicheng Zhu, Jun Ma, Wenxin Wang, Yuanjie Xian, Hao Sun, Han Zhao, Tong Heng Lee

IEEE Control. Syst. Lett., 2023

Learning the References of Online Model Predictive Control for Urban Self-Driving.

Yubin Wang, Zengqi Peng, Hakim Ghazzai, Jun Ma

CoRR, 2023

Spatiotemporal Receding Horizon Control with Proactive Interaction Towards Safe and Efficient Autonomous Driving in Dense Traffic.

Lei Zheng, Rui Yang, Zengqi Peng, Michael Yu Wang, Jun Ma

CoRR, 2023

Integrated Decision-Making and Control for Urban Autonomous Driving with Traffic Rules Compliance.

Haichao Liu, Kai Chen, Yulin Li, Zhenmin Huang, Jianghua Duan, Jun Ma

CoRR, 2023

Chance-Aware Lane Change with High-Level Model Predictive Control Through Curriculum Reinforcement Learning.

Yubin Wang, Yulin Li, Hakim Ghazzai, Yehia Massoud, Jun Ma

CoRR, 2023

Parallel Optimization for Cooperative Autonomous Driving at Unsignalized Roundabouts with Hard Safety Guarantees.

Zhenmin Huang, Haichao Liu, Shaojie Shen, Jun Ma

CoRR, 2023

Integrated Behavior Planning and Motion Control for Autonomous Vehicles with Traffic Rules Compliance.

Haichao Liu, Kai Chen, Yulin Li, Zhenmin Huang, Jianghua Duan, Jun Ma

Proceedings of the IEEE International Conference on Robotics and Biomimetics, 2023

Neural-iLQR: A Learning-Aided Shooting Method for Trajectory Optimization.

Zilong Cheng, Yulin Li, Kai Chen, Jianghua Duan, Jun Ma, Tong Heng Lee

Proceedings of the IEEE International Conference on Robotics and Biomimetics, 2023

Real-Time Parallel Trajectory Optimization with Spatiotemporal Safety Constraints for Autonomous Driving in Congested Traffic.

Lei Zheng, Rui Yang, Zengqi Peng, Haichao Liu, Michael Yu Wang, Jun Ma

Proceedings of the 26th IEEE International Conference on Intelligent Transportation Systems, 2023

Curriculum Proximal Policy Optimization with Stage-Decaying Clipping for Self-Driving at Unsignalized Intersections.

Zengqi Peng, Xiao Zhou, Yubin Wang, Lei Zheng, Ming Liu, Jun Ma

Proceedings of the 26th IEEE International Conference on Intelligent Transportation Systems, 2023

2022

On Robust Stability and Performance With a Fixed-Order Controller Design for Uncertain Systems.

Jun Ma, Haiyue Zhu, Masayoshi Tomizuka, Tong Heng Lee

IEEE Trans. Syst. Man Cybern. Syst., 2022

Semi-Definite Relaxation-Based ADMM for Cooperative Planning and Control of Connected Autonomous Vehicles.

Xiaoxue Zhang, Zilong Cheng, Jun Ma, Sunan Huang, Frank L. Lewis, Tong Heng Lee

IEEE Trans. Intell. Transp. Syst., 2022

Alternating Direction Method of Multipliers for Constrained Iterative LQR in Autonomous Driving.

Jun Ma, Zilong Cheng, Xiaoxue Zhang, Masayoshi Tomizuka, Tong Heng Lee

IEEE Trans. Intell. Transp. Syst., 2022

Convex Parameterization and Optimization for Robust Tracking of a Magnetically Levitated Planar Positioning System.

Jun Ma, Zilong Cheng, Haiyue Zhu, Xiaocong Li, Masayoshi Tomizuka, Tong Heng Lee

IEEE Trans. Ind. Electron., 2022

Convex Inner Approximation for Mixed $H_2$/$H_\infty$ Control With Application to a 2-DoF Flexure-Based Nanopositioning System.

Jun Ma, Zilong Cheng, Wenxin Wang, Xiaocong Li, Haiyue Zhu, Clarence W. de Silva, Tong Heng Lee

IEEE Trans. Ind. Electron., 2022

Fuzzy-Based Controller Synthesis and Optimization for Underactuated Mechanical Systems With Nonholonomic Servo Constraints.

Xiaolong Chen, Jun Ma, Hao Sun, Shengchao Zhen, Han Zhao, Abdullah Al Mamun, Tong Heng Lee

IEEE Trans. Fuzzy Syst., 2022

Weight Imprinting Classification-Based Force Grasping With a Variable-Stiffness Robotic Gripper.

Haiyue Zhu, Xiong Li, Wenjie Chen, Xiaocong Li, Jun Ma, Chek Sing Teo, Tat Joo Teo, Wei Lin

IEEE Trans Autom. Sci. Eng., 2022

Second-Order NonConvex Optimization for Constrained Fixed-Structure Static Output Feedback Controller Synthesis.

Zilong Cheng, Jun Ma, Xiaocong Li, Masayoshi Tomizuka, Tong Heng Lee

IEEE Trans. Autom. Control., 2022

Incremental Few-Shot Learning via Implanting and Compressing.

Yiting Li, Haiyue Zhu, Xijia Feng, Zilong Cheng, Jun Ma, Cheng Xiang, Prahlad Vadakkepat, Tong Heng Lee

CoRR, 2022

Velocity Obstacle Based Risk-Bounded Motion Planning for Stochastic Multi-Agent Systems.

Xiaoxue Zhang, Jun Ma, Zilong Cheng, Masayoshi Tomizuka, Tong Heng Lee

CoRR, 2022

Incremental Few-Shot Object Detection for Robotics.

Yiting Li, Haiyue Zhu, Sichao Tian, Fan Feng, Jun Ma, Chek Sing Teo, Cheng Xiang, Prahlad Vadakkepat, Tong Heng Lee

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

2021

Iterative Super-Twisting Sliding Mode Control for Tray Indexing System With Unknown Dynamics.

Wenxin Wang, Jun Ma, Xiaocong Li, Zilong Cheng, Haiyue Zhu, Chek Sing Teo, Tong Heng Lee

IEEE Trans. Ind. Electron., 2021

Trajectory Generation by Chance-Constrained Nonlinear MPC With Probabilistic Prediction.

Xiaoxue Zhang, Jun Ma, Zilong Cheng, Sunan Huang, Shuzhi Sam Ge, Tong Heng Lee

IEEE Trans. Cybern., 2021

Optimal Decentralized Control for Uncertain Systems by Symmetric Gauss-Seidel Semi-Proximal ALM.

Jun Ma, Zilong Cheng, Xiaoxue Zhang, Masayoshi Tomizuka, Tong Heng Lee

IEEE Trans. Autom. Control., 2021

Towards Generalized and Incremental Few-Shot Object Detection.

Yiting Li, Haiyue Zhu, Jun Ma, Chek Sing Teo, Cheng Xiang, Prahlad Vadakkepat, Tong Heng Lee

CoRR, 2021

Receding Horizon Motion Planning for Multi-Agent Systems: A Velocity Obstacle Based Probabilistic Method.

Xiaoxue Zhang, Jun Ma, Zilong Cheng, Sunan Huang, Tong Heng Lee

CoRR, 2021

Global Iterative Sliding Mode Control of an Industrial Biaxial Gantry System for Contouring Motion Tasks.

Wenxin Wang, Jun Ma, Zilong Cheng, Xiaocong Li, Clarence W. de Silva, Tong Heng Lee

CoRR, 2021

ADMM-Based Parallel Optimization for Multi-Agent Collision-Free Model Predictive Control.

Zilong Cheng, Jun Ma, Xiaoxue Zhang, Clarence W. de Silva, Tong Heng Lee

CoRR, 2021

Robust Control of a Two-Degree-of-Freedom Flexure-Based Nanopositioner for Planar Scanning Tasks.

Zilong Cheng, Jun Ma, Wenxin Wang, Xiaoxue Zhang, Xiaolong Chen, Xiaocong Li, Haiyue Zhu, Tong Heng Lee

Proceedings of the 2021 IEEE International Conference on Systems, Man, and Cybernetics, 2021

Towards Adaptive Robust Control and Optimization for Constrained Uncertain Under-Actuated Mechanical Systems.

Xiaolong Chen, Jun Ma, Zilong Cheng, Xiaoxue Zhang, Wenxin Wang, Han Zhao, Abdullah Al Mamun, Tong Heng Lee

Proceedings of the 2021 IEEE International Conference on Systems, Man, and Cybernetics, 2021

Classification Weight Imprinting for Data Efficient Object Detection.

Yiting Li, Haiyue Zhu, Jun Ma, Sichao Tian, Chek Sing Teo, Cheng Xiang, Prahlad Vadakkepat, Tong Heng Lee

Proceedings of the 30th IEEE International Symposium on Industrial Electronics, 2021

sGS-sPALM for Optimal Decentralized Control: A Distributed Optimization Approach.

Xiaoxue Zhang, Jun Ma, Zilong Cheng, Wenxin Wang, Xiaolong Chen, Tong Heng Lee

Proceedings of the IECON 2021, 2021

Parallel Collaborative Motion Planning with Alternating Direction Method of Multipliers.

Xiaoxue Zhang, Zilong Cheng, Jun Ma, Lin Zhao, Cheng Xiang, Tong Heng Lee

Proceedings of the IECON 2021, 2021

Adaptive Iterative Sliding Mode Control: Development, Synthesis, and Application of a Flexure-Joint Biaxial Gantry Stage.

Wenxin Wang, Jun Ma, Zilong Cheng, Xiaoxue Zhang, Xiaolong Chen, Xiaocong Li, Tong Heng Lee

Proceedings of the IECON 2021, 2021

Generalized Iterative Super-Twisting Sliding Mode Control: A Case Study on Flexure-Joint Dual-Drive H-Gantry Stage.

Wenxin Wang, Jun Ma, Zilong Cheng, Xiaocong Li, Abdullah Al Mamun, Tong Heng Lee

Proceedings of the 22nd IEEE International Conference on Industrial Technology, 2021

2020

Parameter Space Optimization Towards Constrained Controller Design With Application to Tray Indexing.

Jun Ma, Xiaocong Li, Wenyu Liang, Kok Kiong Tan

IEEE Trans. Ind. Electron., 2020

Neural Network iLQR: A New Reinforcement Learning Architecture.

Zilong Cheng, Jun Ma, Xiaoxue Zhang, Frank L. Lewis, Tong Heng Lee

CoRR, 2020

Data-Driven Predictive Control for Multi-Agent Decision Making With Chance Constraints.

Jun Ma, Zilong Cheng, Xiaoxue Zhang, Abdullah Al Mamun, Clarence W. de Silva, Tong Heng Lee

CoRR, 2020

Accelerated Hierarchical ADMM for Nonconvex Optimization in Multi-Agent Decision Making.

Xiaoxue Zhang, Jun Ma, Zilong Cheng, Sunan Huang, Clarence W. de Silva, Tong Heng Lee

CoRR, 2020

Data-Driven Multi-Objective Controller Optimization for a Magnetically-Levitated Nanopositioning System.

Xiaocong Li, Haiyue Zhu, Jun Ma, Tat Joo Teo, Chek Sing Teo, Masayoshi Tomizuka, Tong Heng Lee

CoRR, 2020

Robust Fixed-Order Controller Design with Common Lyapunov Strictly Positive Realness Characterization.

Jun Ma, Haiyue Zhu, Xiaocong Li, Clarence W. de Silva, Tong Heng Lee

CoRR, 2020

On Symmetric Gauss-Seidel ADMM Algorithm for H_∞ Guaranteed Cost Control with Convex Parameterization.

Jun Ma, Zilong Cheng, Xiaoxue Zhang, Masayoshi Tomizuka, Tong Heng Lee

CoRR, 2020

Grasping Detection Network with Uncertainty Estimation for Confidence-Driven Semi-Supervised Domain Adaptation.

Haiyue Zhu, Yiting Li, Fengjun Bai, Wenjie Chen, Xiaocong Li, Jun Ma, Chek Sing Teo, Pey Yuen Tao, Wei Lin

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Learning-Based Controller Optimization for Repetitive Robotic Tasks.

Xiaocong Li, Haiyue Zhu, Jun Ma, Tat Joo Teo, Chek Sing Teo, Masayoshi Tomizuka, Tong Heng Lee

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Iterative Super-Twisting Sliding Mode Control: A Case Study on Tray Indexing.

Wenxin Wang, Jun Ma, Xiaocong Li, Haiyue Zhu, Chek Sing Teo, Tong Heng Lee

Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2020

2019

Robust Decentralized Controller Synthesis in Flexure-Linked H-Gantry by Iterative Linear Programming.

Jun Ma, Si-Lu Chen, Wenyu Liang, Chek Sing Teo, Arthur Tay, Abdullah Al Mamun, Kok Kiong Tan

IEEE Trans. Ind. Informatics, 2019

Second-Order Non-Convex Optimization for Constrained Fixed-Structure Static Output Feedback Controller Synthesis.

Zilong Cheng, Jun Ma, Xiaocong Li, Masayoshi Tomizuka, Tong Heng Lee

CoRR, 2019

Data-Driven Linear Quadratic Optimization for Controller Synthesis with Structural Constraints.

Jun Ma, Zilong Cheng, Xiaocong Li, Masayoshi Tomizuka, Tong Heng Lee

CoRR, 2019

Parameter space optimization towards integrated mechatronic design for uncertain systems with generalized feedback constraints.

Jun Ma, Si-Lu Chen, Chek Sing Teo, Arthur Tay, Abdullah Al Mamun, Kok Kiong Tan

Autom., 2019

Data-Driven Tuning Method for LQR Based Optimal PID Controller.

Zilong Cheng, Xiaocong Li, Jun Ma, Chek Sing Teo, Kok Kiong Tan, Tong Heng Lee

Proceedings of the IECON 2019, 2019

2018

Integrated Mechatronic Design in the Flexure-Linked Dual-Drive Gantry by Constrained Linear-Quadratic Optimization.

Jun Ma, Si-Lu Chen, Nazir Kamaldin, Chek Sing Teo, Arthur Tay, Abdullah Al Mamun, Kok Kiong Tan

IEEE Trans. Ind. Electron., 2018

Contact Force Control on Soft Membrane for an Ear Surgical Device.

Wenyu Liang, Jun Ma, Kok Kiong Tan

IEEE Trans. Ind. Electron., 2018

Intelligent Motion Control of Ultrasonic Motor for an Ear Surgical Device.

Wenyu Liang, Sunan Huang, Jun Ma, Kok Kiong Tan

Proceedings of the IECON 2018, 2018

Data-Driven Model-Free Iterative Tuning Approach for Smooth and Accurate Tracking.

Xiaocong Li, Si-Lu Chen, Jun Ma, Chek Sing Teo, Kok Kiong Tan

Proceedings of the 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2018

Outer-Linearization-Based Optimization Algorithm for Decentralized Control Design in Flexure-Linked H-Gantry.

Jun Ma, Si-Lu Chen, Wenyu Liang, Xiaocong Li, Chek Sing Teo, Arthur Tay, Abdullah Al Mamun, Kok Kiong Tan

Proceedings of the 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2018

2017

A constrained linear quadratic optimization algorithm toward jerk-decoupling cartridge design.

Jun Ma, Si-Lu Chen, Chek Sing Teo, Chun Jeng Kong, Arthur Tay, Wei Lin, Abdullah Al Mamun

J. Frankl. Inst., 2017

Integrated mechatronics design of flexure joint and controller in dual-drive gantry: A constrained H2 optimization approach.

Jun Ma, Si-Lu Chen, Nazir Kamaldin, Chek Sing Teo, Arthur Tay, Abdullah Al Mamun, Kok Kiong Tan

Proceedings of the IEEE International Conference on Advanced Intelligent Mechatronics, 2017

2016

Optimal decentralized control approach toward integrated design of controller and jerk-decoupling cartridge.

Jun Ma, Si-Lu Chen, Chek Sing Teo, Chun Jeng Kong, Arthur Tay, Wei Lin, Abdullah Al Mamun

Proceedings of the IECON 2016, 2016

2015

A constrained linear quadratic optimization approach to jerk decoupling cartridge design for vibration suppression.

Si-Lu Chen, Jun Ma, Chek Sing Teo, Chun Jeng Kong, Wei Lin, Arthur Tay, Abdullah Al Mamun

Proceedings of the IEEE International Conference on Advanced Intelligent Mechatronics, 2015