Author

Yi-Xuan Jia

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Preprint Aug 2026

Learning-Based Measurement-Robust Control Barrier Functions for Obstacle Avoidance under State Estimation Error

This work develops two new control barrier function (CBF) formulations: drift-measurement-robust (DMR)-CBFs and neural measurement-robust (NMR)-CBFs and provides theoretical analysis of the DMR-CBF along with numerical results on a planar double integrator and a 12D quadrotor.

Nicholas Rober, Yi-Xuan Jia, Jonathan P. How · 1 citation

#artificial intelligence Preprint Sep 2026

Steering Generative Robot Policies with Lexicographic Preferences

It is shown that a frozen generative robot policy---based on either diffusion or flow matching---can be steered at inference time to respect such lexicographically ordered deployment objectives, and a controlled manipulation study shows that the dynamic barrier reaches comparable best performance over a substantially w...

Yi-Xuan Jia, Jonathan P. How · 2 citations