Publications

Papers Under Review

  1. Y. Wang, Z. Peng, Y. Xie, Y. Li, H. Ghazzai, and J. Ma*, “Learning the References of Online Model Predictive Control for Urban Self-Driving.”

  2. Z. Zhu, H. Liu, W. Wang, J. Duan, H. Sun, and J. Ma*, “Diffeomorphism-Transformed Iterative Linear Quadratic Regulator for Constrained Motion Planning in Autonomous Driving.”

  3. W. Wang, J. Ma*, Z. Cheng, Y. Xian, C. W. de Silva, and T. H. Lee, “Robust Precision Motion Control of Dual-Drive Gantry-Type Cartesian Robot with State and Input Constraints.”

  4. Z. Peng, Y. Wang, L. Zheng, and J. Ma*, “Bilevel Multi-Armed Bandit-Based Hierarchical Reinforcement Learning for Interaction-Aware Self-Driving at Unsignalized Intersections.”

  5. Z. Huang, S. Shen, and J. Ma*, “A Universal Cooperative Decision-Making Framework for Connected Autonomous Vehicles with Generic Road Topologies.”

  6. W. Liu, H. Liu, L. Zheng, Z. Huang, and J. Ma*, “Synergizing Decision Making and Trajectory Planning Using Two-Stage Optimization for Autonomous Vehicles.”

  7. H. Liu, K. Chen, Y. Li, Z. Huang, M. Liu, and J. Ma*, “UDMC: Unified Decision-Making and Control Framework for Urban Autonomous Driving with Motion Prediction of Traffic Participants.”

  8. Z. Huang, T. Li, S. Shen, and J. Ma*, “Integrated Decision Making and Trajectory Planning for Autonomous Driving Under Multimodal Uncertainties: A Bayesian Game Approach.”

  9. L. Zheng, R. Yang, M. Zheng, M. Y. Wang, and J. Ma*, “Safe and Real-Time Consistent Planning for Autonomous Vehicles in Partially Observed Environments via Parallel Consensus Optimization.”

  10. C. Meng, Z. Huang, and J. Ma*, “A Universal Multi-Vehicle Cooperative Decision-Making Approach in Structured Roads by Mixed-Integer Potential Game.”

  11. J. Cao, Q. Zhang, J. Sun, J. Wang, H. Cheng, Y. Li, J. Ma, Y. Shao, W. Zhao, G. Han, Y. Guo, and R. Xu*, “Mamba Policy: Towards Efficient 3D Diffusion Policy with Hybrid Selective State Models.”

  12. R. Xin, J. Cheng, and J. Ma*, “PlanScope: Learning to Plan Within Decision Scope Does Matter.”

  13. G. Sun, S. Wang, L. Zhu, M. Liu, and J. Ma*, “GDTS: Goal-Guided Diffusion Model with Tree Sampling for Multi-Modal Pedestrian Trajectory Prediction.”

  14. K. Chen, H. Liu, Y. Li, J. Duan, L. Zhu, and J. Ma*, “Robot Navigation in Unknown and Cluttered Workspace with Dynamical System Modulation in Starshaped Roadmap.”

  15. F. Ma, W. Qi, G. Zhao, M. Liu, and J. Ma*, “Erase, then Redraw: A Novel Data Augmentation Approach for Free Space Detection Using Diffusion Model.”

  16. F. Ma, G. Zhao, W. Qi, M. Liu, and J. Ma*, “Task-Oriented Pre-Training for Drivable Area Detection.”

  17. G. Zhao, F. Ma, W. Qi, C. Zhang, Y. Liu, M. Liu, and J. Ma*, “TSCLIP: Robust CLIP Fine-Tuning for Worldwide Cross-Regional Traffic Sign Recognition.”

  18. G. Zhao, Y. Liu, W. Qi, F. Ma, M. Liu, and J. Ma*, “FisheyeDepth: A Real Scale Self-Supervised Depth Estimation Model for Fisheye Camera.”

  19. H. Liu, R. Yao, Z. Huang, S. Shen, and J. Ma*, “LMMCoDrive: Cooperative Driving with Large Multimodal Model.”

  20. F. Ma, P. Hou, Y. Liu, M. Liu, and J. Ma*, “Annotation-Free Curb Detection Leveraging Altitude Difference Image.”

  21. J. Shi, J. Chen, X. Chen, J. Ma*, and T. Wo, “MF-BERT: a Siamese Pre-training Framework for Motion Forecasting.”

  22. Z. Lei, W. Wang, Z. Zhu, J. Ma*, and S. S. Ge, “Safe Motion Planning for Multi-Vehicle Autonomous Driving in Uncertain Environment.”

  23. D. Feng, Y. Qi, S. Zhong, Z. Chen, Q. Chen, H. Chen, J. Wu, and J. Ma*, “S3E: A Mulit-Robot Multimodal Dataset for Collaborative SLAM.”

2024

  1. Y. Li, C. Zheng, K. Chen, Y. Xie, X. Tang, M. Y. Wang, and J. Ma*, “Collision-Free Trajectory Optimization in Cluttered Environments Using Sums-of-Squares Programming,” IEEE Robotics and Automation Letters, accepted.

  2. H. Zhou, H. Liu, D. Xu, J. Ma, and Y. Ji*, “FusionAssurance: Safety Assured End-to-end Driving Fusion Framework," 2024 IEEE International Conference on Robotics and Biomimetics (ROBIO), accepted.

  3. L. Zheng, H. Wang, X. Li*, J. Ma, and P. Vadakkepat, “Robotic Control Optimization Through Kernel Selection in Safe Bayesian Optimization," 2024 IEEE International Conference on Robotics and Biomimetics (ROBIO), accepted.

  4. W. Qi, F. Ma, G. Zhao, M. Liu and J. Ma*, “CrackSegMamba: A Lightweight Mamba Model for Crack Segmentation," 2024 IEEE International Conference on Robotics and Biomimetics (ROBIO), accepted.

  5. P. Peuchpen, H. Liu, and J. Ma*, “Real-Time Teleoperation in Motion Mapping for Medical Robot Based on Robot Manipulator and Haptic Device," 2024 IEEE International Conference on Robotics and Biomimetics (ROBIO), accepted.

  6. R. Xin, S. Wang, Y. Chen, J. Cheng, M. Liu, and J. Ma*, “RiskMap: A Unified Driving Context Representation for Autonomous Motion Planning in Urban Driving Environment," 2024 IEEE International Conference on Robotics and Biomimetics (ROBIO), accepted.

  7. J. Xu, Z. Song, C, Zheng, and J. Ma*, “State Estimation For Wheeled-Legged Robot With Slip Detection," 2024 IEEE International Conference on Robotics and Biomimetics (ROBIO), accepted.

  8. Z. Zhu, H. Zhao, Y. Xian*, Y.-H. Chen, H. Sun, and J. Ma, “Stackelberg Game-Based Control Design for Fuzzy Underactuated Mechanical Systems with Inequality Constraints,” IEEE Transactions on Systems, Man, and Cybernetics, accepted.

  9. X. Zhou, Z. Peng, Y. Xie, M. Liu, J. Ma*, “Game-Theoretic Driver Modeling and Decision-Making for Autonomous Driving with Temporal-Spatial Attention-Based Deep Q-Learning,” IEEE Transactions on Intelligent Vehicles, accepted.

  10. S . Liu, Z. Lei, H. Zhu*, J. Ma, and Z. Lin, “SegmentAnything-Based Approach to Scene Understanding and Grasp Generation," International Conference of Social Robotics, accepted.

  11. S. Yan, X. Li*, H. Qian, J. Ma, and A. Al Mamun, “Tolerant Tracking Control Protocol for PMSM Based on Policy Iteration Algorithm and Fault Compensation," International Conference of Social Robotics, accepted.

  12. Z. Zhu, H. Zhao, Y. Xian*, H. Sun, Y. Chen, and J. Ma, “Cooperative game-theoretic optimization of adaptive robust constraint-following control for fuzzy mechanical systems under inequality constraints,” Nonlinear Dynamics, accepted.

  13. F. Ma, X. Yan, G. Zhao, X. Xu, Y. Liu, J. Ma*, and M. Liu, “Every Dataset Counts: Scaling up Monocular 3D Object Detection with Joint Datasets Training,” 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), accepted.

  14. R. Xin, H. Liu, Y. Chen, J. Cheng, S. Wang, J. Ma*, and M. Liu, “A Generic Trajectory Planning Method for Constrained All-Wheel-Steering Robots,” 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), accepted.

  15. Z. Peng, X. Zhou, L., Y. Wang, and J. Ma*, “Reward-Driven Automated Curriculum Learning for Interaction-Aware Self-Driving at Unsignalized Intersections,” 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), accepted.

  16. Z. Wang, Y. Jia, L. Shi, H. Wang, H. Zhao, X. Li, J. Zhou, J. Ma*, and G. Zhou “Arm-Constrained Curriculum Learning for Loco-Manipulation of a Wheel-Legged Robot,” 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), accepted.

  17. Y. Xie, Z. Huang, K. Chen, L. Zhu, and J. Ma*, “MCGMapper: Light-Weight Incremental Structure from Motion and Visual Localization With Planar Markers and Camera Groups,” 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), accepted.

  18. Y. Li, H. Zhu, S. Tian, J. Ma*, C. Xiang, and P. Vadakkepat, “Bilateral-Head Region-Based Convolutional Neural Networks: a Unified Approach for Incremental Few-Shot Object Detection,” IEEE Transactions on Artificial Intelligence, accepted.

  19. H. Liu, Z. Huang, Z. Zhu, Y. Li, S. Shen, and J. Ma*, “Improved Consensus ADMM for Cooperative Motion Planning of Large-Scale Connected Autonomous Vehicles with Limited Communications,” IEEE Transactions on Intelligent Vehicles, accepted.

  20. L. Zheng, Z. Peng, R. Yang, M. Y. Wang, and J. Ma*, “Spatiotemporal Receding Horizon Control with Proactive Interaction Towards Safe and Efficient Autonomous Driving in Dense Traffic,” IEEE Transactions on Intelligent Vehicles, accepted.

  21. H. Liu, K. Chen, and J. Ma*, “Incremental Learning-Based Real-Time Trajectory Prediction for Autonomous Driving via Sparse Gaussian Process Regression,” 2024 IEEE Intelligent Vehicles Symposium (IV), accepted.

  22. L. Zheng, R. Yang, Z. Peng, W. Yan, M. Y. Wang, and J. Ma*, “Incremental Bayesian Learning for Fail-Operational Control in Autonomous Driving,” 2024 European Control Conference (ECC), accepted.

  23. Y. Xian, J. Ma*, K. Huang, X. Li, W. Wang, A. Al Mamun, and T. H. Lee, “Adaptive Robust Control for Fuzzy Underactuated Mechanical Systems: A Stackelberg Game-Theoretic Optimization Approach,” Information Sciences, accepted.

  24. Z. Cheng, J. Ma*, W. Wang, C. W. de Silva, and T. H. Lee, “Alternating Direction Method of Multipliers-Based Parallel Optimization for Multi-Agent Collision-Free Model Predictive Control,” IEEE Transactions on Artificial Intelligence, accepted.

  25. Y. Wang, Y. Li, Z. Peng, H. Ghazzai, and J. Ma*, “Chance-Aware Lane Change with High-Level Model Predictive Control Through Curriculum Reinforcement Learning,” 2024 IEEE International Conference on Robotics and Automation (ICRA), accepted.

  26. Z. Huang, H. Liu, S. Shen, and J. Ma*, “Parallel Optimization with Hard Safety Constraints for Cooperative Planning of Connected Autonomous Vehicles,” 2024 IEEE International Conference on Robotics and Automation (ICRA), accepted.

  27. Y. Li, X. Tang, K. Chen, C. Zheng, H. Liu, and J. Ma*, “Geometry-Aware Safety-Critical Local Reactive Controller for Robot Navigation in Unknown and Cluttered Environments,” IEEE Robotics and Automation Letters, accepted.

  28. X. Li, H. Zhu*, J. Ma, W. Wang, T. J. Teo, C. S. Teo, and T. H. Lee, “Learning-Based High-Precision Tracking Control: Development, Synthesis, and Verification on Spiral Scanning with a Flexure-Based Nanopositioner,” IEEE/ASME Transactions on Mechatronics, accepted.

2023

  1. Y. Li, H. Zhu, J. Ma*, C. Xiang, and P. Vadakkepat, “Incremental Few-Shot Learning via Implanting and Compressing,” Neurocomputing, accepted.

  2. Z. Zhu, J. Ma*, H. Sun, W. Wang, H. Zhao, and T. H. Lee, “Game-Theoretic Optimization Towards Diffeomorphism Based Robust Control of Fuzzy Dynamical Systems with State and Input Constraints,” IEEE Transactions on Fuzzy Systems, vol. 32, no. 2, pp. 373-387, 2023.

  3. Z. Huang, S. Shen, and J. Ma*, “Decentralized iLQR for Cooperative Trajectory Planning of Connected Autonomous Vehicles via Dual Consensus ADMM,” IEEE Transactions on Intelligent Transportation Systems, accepted.

  4. Z. Zhu, J. Ma*, W. Wang, Y. Xian, H. Sun, H. Zhao, and T. H. Lee, “Robust Constraint-Following Control for Uncertain Mechanical Systems with Generalized Udwadia-Kalaba Approach,” IEEE Control Systems Letters, vol. 7, pp. 2263-268, 2023.

  5. J. Ma, Z. Cheng, X. Li, W. Wang*, M. Tomizuka, and T. H. Lee, “Data-Driven Linear Quadratic Optimization for Controller Design Problem with Structural Constraints,” IEEE Transactions on Cybernetics, accepted.

  6. J. Ma, Z. Cheng*, X. Zhang, Z. Lin, F. L. Lewis, and T. H. Lee, “Local Learning Enabled Iterative Linear Quadratic Regulator for Constrained Trajectory Planning,” IEEE Transactions on Neural Networks and Learning Systems, vol. 34, no. 9, pp. 5354-5365, 2023.

  7. Z. Lin, J. Duan, S. E. Li*, H. Ma, J. Li, J. Chen, B. Cheng, and J. Ma, “Policy-Iteration-Based Finite-Horizon Approximate Dynamic Programming for Continuous-Time Nonlinear Optimal Control,” IEEE Transactions on Neural Networks and Learning Systems, vol. 34, no. 9, pp. 5255-5267, 2023.

  8. Z. Lin, J. Ma, J. Duan, S. E. Li*, H. Ma, B. Cheng, and T. H. Lee, “Policy-Iteration-Based Approximate Dynamic Programming Towards Autonomous Driving in Constrained Dynamic Environment,” IEEE Transactions on Intelligent Transportation Systems, vol. 24, no. 5, pp. 5003-5013, 2023.

  9. J. Ma, H. Zhu*, X. Li, W. Wang, C. W. de Silva, and T. H. Lee, “Robust Fixed-Order Controller Design with Common Lyapunov Strictly Positive Realness Characterization,” IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 53, no. 3, pp. 1543-1553, 2023.

  10. J. Ma, Z. Cheng*, X. Zhang, M. Tomizuka, and T. H. Lee, “On Symmetric Gauss-Seidel ADMM Algorithm for H∞ Guaranteed Cost Control with Convex Parameterization,” IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 53, no. 2, pp. 1015-1026, 2023.

  11. W. Wang, J. Ma*, X. Li, H. Zhu, C. W. de Silva, and T. H. Lee, “Hybrid Active-Passive Robust Control Framework of a Flexure-Joint Dual-Drive Gantry Robot for High-Precision Contouring Tasks,” IEEE Transactions on Industrial Electronics, vol. 70, no. 2, pp. 1676-1686, 2023.

  12. Q. Zhong*, K. Chen, J. Duan, and J. Ma, “Heuristic Online Path Planning for Mobile Air Purification and Disinfection Robot In Regulating Indoor Air Quality,” 2023 IEEE International Conference on Robotics and Biomimetics (ROBIO), accepted.

  13. H. Liu, K. Chen, Y. Li, Z. Huang, J. Duan, and J. Ma*, “Integrated Decision-Making and Control for Urban Autonomous Driving with Traffic Rules Compliance,” 2023 IEEE International Conference on Robotics and Biomimetics (ROBIO), accepted.

  14. Z. Cheng, Y. Li, K. Chen, J. Duan, J. Ma*, and T. H. Lee, “Neural-iLQR: A Learning-Aided Shooting Method for Trajectory Optimization,” 2023 IEEE International Conference on Robotics and Biomimetics (ROBIO), accepted.

  15. Z. Peng, X. Zhou, Y. Wang, L. Zheng, M. Liu, and J. Ma*, “Curriculum Proximal Policy Optimization with Stage-Decaying Clipping for Self-Driving at Unsignalized Intersections,” the 26th IEEE International Conference on Intelligent Transportation Systems (ITSC), accepted.

  16. L. Zheng, R. Yang, Z. Peng, H. Liu, M. Y. Wang, and J. Ma*, “Real-Time Parallel Trajectory Optimization with Spatiotemporal Safety Constraints for Autonomous Driving in Congested Traffic,” the 26th IEEE International Conference on Intelligent Transportation Systems (ITSC), accepted.

For the complete publication list, please refer to Google scholar.

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