no code implementations • 12 Apr 2024 • Siyang Liu, Trish Maturi, Bowen Yi, Siqi Shen, Rada Mihalcea
In this paper, we explore the alignment of values in Large Language Models (LLMs) with specific age groups, leveraging data from the World Value Survey across thirteen categories.
no code implementations • 22 Mar 2024 • Dongjun Wu, Bowen Yi, Ian R. Manchester
The results extend the applicability of the CCM approach and provide a framework for analyzing the behavior of control systems with Lie group structures.
no code implementations • 16 Jan 2024 • Fletcher Fan, Bowen Yi, David Rye, Guodong Shi, Ian R. Manchester
Whereas most existing works on Koopman learning do not take into account the stability or stabilizability of the model -- two fundamental pieces of prior knowledge about a given system to be identified -- in this paper, we propose new classes of Koopman models that have built-in guarantees of these properties.
no code implementations • 9 Jul 2023 • Bowen Yi, Ian R. Manchester
The inertial measurement unit (IMU) preintegration approach nowadays is widely used in various robotic applications.
no code implementations • 22 Jun 2023 • Bowen Yi, Chi Jin, Lei Wang, Guodong Shi, Viorela Ila, Ian R. Manchester
This paper introduces a new linear parameterization to the problem of visual inertial simultaneous localization and mapping (VI-SLAM) -- without any approximation -- for the case only using information from a single monocular camera and an inertial measurement unit.
no code implementations • 1 Oct 2022 • Bowen Yi, Romeo Ortega, Jongwon Choi, Kwanghee Nam
In a recent paper [18] the authors proposed the first solution to the problem of designing a {\em globally exponentially stable} (GES) flux observer for the interior permanent magnet synchronous motor.
no code implementations • 27 Jun 2022 • Bowen Yi, Lei Wang, Ian R. Manchester
The paper addresses the problem of attitude estimation for rigid bodies using (possibly time-varying) vector measurements, for which we provide a necessary and sufficient condition of distinguishability.
no code implementations • 23 Dec 2021 • Bowen Yi, Chi Jin, Ian R. Manchester
The design of a globally convergent position observer for feature points from visual information is a challenging problem, especially for the case with only inertial measurements and without assumptions of uniform observability, which remained open for a long time.
1 code implementation • 13 Oct 2021 • Fletcher Fan, Bowen Yi, David Rye, Guodong Shi, Ian R. Manchester
In this paper, we present a new data-driven method for learning stable models of nonlinear systems.
no code implementations • 23 Aug 2021 • Xiaodong Shao, Qinglei Hu, Daochun Li, Yang Shi, Bowen Yi
This paper provides an exponential stability result for the adaptive anti-unwinding attitude tracking control problem of a rigid body with uncertain but constant inertia parameters, without requiring the satisfaction of persistent excitation (PE) condition.
no code implementations • 19 Aug 2021 • Lei Wang, Romeo Ortega, Alexey Bobtsov, Jose Guadalupe Romero, Bowen Yi
The estimators are shown to be robust to additive measurement noise and--not necessarily slow--parameter variations.
no code implementations • 28 Mar 2021 • Bowen Yi, Ian R. Manchester
control contraction metric) for the nonlinear system.
no code implementations • 30 Jul 2020 • Bowen Yi, Romeo Ortega
Regarding PE we prove that, under some mild technical assumptions, if $\phi(t)$ is PE then the scalar regressor of DREM, $\Delta(t) \in \mathbb{R}$, is also PE, ensuring exponential convergence.