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Author

Lihua Xie

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Preprint Sep 2026

Predictive Online Disturbance-Action Control for Linear Dynamical Systems

This paper studies predictive online control for linear dynamical systems with time-varying cost functions, motivated by applications such as real-time adaptive control of motorized LiDAR sensing systems, where the controller must adjust the sensing direction online to balance localization accuracy, scanning efficiency...

Xia Jiang, Jian-Ping Li, Li-Hua Xie · 0 citations
Jul 2026

G2-Nav: Grounded and Guarded Vision-Language Costmaps for Robot Social Navigation

G2-Nav is presented, a novel framework that grounds abstract social reasoning and guards safe real-world deployment in unstructured environments by translating its semantic reasoning into a vision-language costmap with reliability and interpretability.

Yuwen Liao, Yihang Lan, Yizhuo Yang et al. · 0 citations

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