Yikun Cheng

According to our database, Yikun Cheng authored at least 14 papers between 2020 and 2026.

Collaborative distances:

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

2026

Neural-NPV Control: Learning Parameter-Dependent Controllers and Lyapunov Functions with Neural Networks.

MD Abul Kashem Niloy, Adam Hallmark, Yikun Cheng, Pan Zhao

CoRR, March, 2026

A Deployable Bio-inspired Compliant Leg Design for Enhanced Leaping in Quadruped Robots.

Yiyang Chen, Yuxin Liu, Jinzheng Zhou, Fanxin Wang, Qinglei Bu, Jie Sun, Yikun Cheng

CoRR, March, 2026

2025

Needle Biopsy And Fiber-Optic Compatible Robotic Insertion Platform.

Fanxin Wang, Yikun Cheng, Chuyuan Tao, Rohit Bhargava, Thenkurussi Kesavadas

CoRR, September, 2025

MPPI-DBaS: Safe Trajectory Optimization with Adaptive Exploration.

Fanxin Wang, Yikun Cheng, Chuyuan Tao

CoRR, February, 2025

DBaS-Log-MPPI: Efficient and Safe Trajectory Optimization via Barrier States.

Fanxin Wang, Haolong Jiang, Chuyuan Tao, Wenbin Wan, Yikun Cheng

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2025

2024

Guaranteed Trajectory Tracking under Learned Dynamics with Contraction Metrics and Disturbance Estimation.

Pan Zhao, Ziyao Guo, Yikun Cheng, Aditya Gahlawat, Hyungsoo Kang, Naira Hovakimyan

Robotics, July, 2024

CROPS: A Deployable Crop Management System Over All Possible State Availabilities.

Jing Wu, Zhixin Lai, Shengjie Liu, Suiyao Chen, Ran Tao, Pan Zhao, Chuyuan Tao, Yikun Cheng, Naira Hovakimyan

CoRR, 2024

2023

Convex Synthesis of Control Barrier Functions Under Input Constraints.

Pan Zhao, Reza Ghabcheloo, Yikun Cheng, Hossein Abdi, Naira Hovakimyan

IEEE Control. Syst. Lett., 2023

Safe and Efficient Reinforcement Learning using Disturbance-Observer-Based Control Barrier Functions.

Yikun Cheng, Pan Zhao, Naira Hovakimyan

Proceedings of the Learning for Dynamics and Control Conference, 2023

2022

Improving the Robustness of Reinforcement Learning Policies With ${\mathcal {L}_{1}}$ Adaptive Control.

Yikun Cheng, Pan Zhao, Fanxin Wang, Daniel J. Block, Naira Hovakimyan

IEEE Robotics Autom. Lett., 2022

Safe Model-Free Reinforcement Learning using Disturbance-Observer-Based Control Barrier Functions.

Yikun Cheng, Pan Zhao, Naira Hovakimyan

CoRR, 2022

2021

Guaranteed Contraction Control in the Presence of Imperfectly Learned Dynamics.

Pan Zhao, Ziyao Guo, Yikun Cheng, Aditya Gahlawat, Naira Hovakimyan

CoRR, 2021

Improving the Robustness of Reinforcement Learning Policies with L₁ Adaptive Control.

Yikun Cheng, Pan Zhao, Fanxin Wang, Daniel J. Block, Naira Hovakimyan

CoRR, 2021

2020

Safety Constrained Multi-UAV Time Coordination: A Bi-level Control Framework in GPS Denied Environment.

Wenbin Wan, Hunmin Kim, Yikun Cheng, Naira Hovakimyan, Petros G. Voulgaris, Lui Sha

CoRR, 2020