Sangli Teng

31 papers A* 1A 2C 2Journal 23Unranked 3
YearRankTypeTitle / Venue / Authors
2026 J jnl
MePoly: Max Entropy Polynomial Policy Optimization.
CoRR
Hang Liu, Sangli Teng, Maani Ghaffari
2026 J jnl
Stein Variational Ergodic Surface Coverage with SE(3) Constraints.
CoRR
Jiayun Li, Yufeng Jin, Sangli Teng, Dejian Gong, Georgia Chalvatzaki
2025 C conf
A Generalized Metriplectic System via Free Energy and System Identification via Bilevel Convex Optimization.
ACC
Sangli Teng, Kaito Iwasaki, William A. Clark, Xihang Yu, Anthony M. Bloch, Ram Vasudevan, Maani Ghaffari
2025 J jnl
CHyLL: Learning Continuous Neural Representations of Hybrid Systems.
CoRR
Sangli Teng, Hang Liu, Jingyu Song, Koushil Sreenath
2025 J jnl
Convex geometric motion planning of multi-body systems on lie groups via variational integrators and sparse moment relaxation.
Int. J. Robotics Res.
Sangli Teng, Ashkan Jasour, Ram Vasudevan, Maani Ghaffari
2025 J jnl
Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding.
CoRR
Hang Liu, Sangli Teng, Ben Liu, Wei Zhang, Maani Ghaffari
2025 J jnl
Ego-Vision World Model for Humanoid Contact Planning.
CoRR
Hang Liu, Yuman Gao, Sangli Teng, Yufeng Chi, Yakun Sophia Shao, Zhongyu Li, Maani Ghaffari, Koushil Sreenath
2025 J jnl
Learning Hybrid Dynamics via Convex Optimizations.
CoRR
Kaito Iwasaki, Sangli Teng, Anthony M. Bloch, Maani Ghaffari
2025 J jnl
Max Entropy Moment Kalman Filter for Polynomial Systems with Arbitrary Noise.
CoRR
Sangli Teng, Harry Zhang, David Jin, Ashkan Jasour, Ram Vasudevan, Maani Ghaffari, Luca Carlone
2025 J jnl
Online Learning-Enhanced Lie Algebraic MPC for Robust Trajectory Tracking of Autonomous Surface Vehicles.
CoRR
Yinan Dong, Ziyu Xu, Tsimafei Lazouski, Sangli Teng, Maani Ghaffari
2025 J jnl
Riemannian Direct Trajectory Optimization of Rigid Bodies on Matrix Lie Groups.
CoRR
Sangli Teng, Tzu-Yuan Lin, William A. Clark, Ram Vasudevan, Maani Ghaffari
2024 J jnl
A Generalized Metriplectic System via Free Energy and System~Identification via Bilevel Convex Optimization.
CoRR
Sangli Teng, Kaito Iwasaki, William Clark, Xihang Yu, Anthony M. Bloch, Ram Vasudevan, Maani Ghaffari
2024 J jnl
GMKF: Generalized Moment Kalman Filter for Polynomial Systems with Arbitrary Noise.
CoRR
Sangli Teng, Harry Zhang, David Jin, Ashkan Jasour, Maani Ghaffari, Luca Carlone
2024 — conf
Legged Robot State Estimation within Non-inertial Environments.
CDC
Zijian He, Sangli Teng, Tzu-Yuan Lin, Maani Ghaffari, Yan Gu
2024 J jnl
Legged Robot State Estimation within Non-inertial Environments.
CoRR
Zijian He, Sangli Teng, Tzu-Yuan Lin, Maani Ghaffari, Yan Gu
2023 — conf
Convex Geometric Motion Planning on Lie Groups via Moment Relaxation.
Robotics: Science and Systems
Sangli Teng, Ashkan Jasour, Ram Vasudevan, Maani Ghaffari Jadidi
2023 J jnl
Convex Geometric Motion Planning on Lie Groups via Moment Relaxation.
CoRR
Sangli Teng, Ashkan Jasour, Ram Vasudevan, Maani Ghaffari
2023 J jnl
Convex Geometric Trajectory Tracking Using Lie Algebraic MPC for Autonomous Marine Vehicles.
IEEE Robotics Autom. Lett.
Junwoo Jang, Sangli Teng, Maani Ghaffari
2023 J jnl
Convex Geometric Trajectory Tracking using Lie Algebraic MPC for Autonomous Marine Vehicles.
CoRR
Junwoo Jang, Sangli Teng, Maani Ghaffari
2023 A conf
Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer.
IROS
Xihang Yu, Sangli Teng, Theodor Chakhachiro, Wenzhe Tong, Tingjun Li, Tzu-Yuan Lin, Sarah Koehler, Manuel Ahumada, Jeffrey M. Walls, Maani Ghaffari
2022 A conf
An Error-State Model Predictive Control on Connected Matrix Lie Groups for Legged Robot Control.
IROS
Sangli Teng, Dianhao Chen, William A. Clark, Maani Ghaffari
2022 J jnl
An Error-State Model Predictive Control on Connected Matrix Lie Groups for Legged Robot Control.
CoRR
Sangli Teng, Dianhao Chen, William A. Clark, Maani Ghaffari
2022 J jnl
Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer.
CoRR
Xihang Yu, Sangli Teng, Theodor Chakhachiro, Wenzhe Tong, Tingjun Li, Tzu-Yuan Lin, Sarah Koehler, Manuel Ahumada, Jeffrey M. Walls, Maani Ghaffari
2022 C conf
Input Influence Matrix Design for MIMO Discrete-Time Ultra-Local Model.
ACC
Sangli Teng, Amit K. Sanyal, Ram Vasudevan, Anthony M. Bloch, Maani Ghaffari
2022 J jnl
Input Influence Matrix Design for MIMO Discrete-Time Ultra-Local Model.
CoRR
Sangli Teng, Amit K. Sanyal, Ram Vasudevan, Anthony M. Bloch, Maani Ghaffari
2022 — conf
Lie Algebraic Cost Function Design for Control on Lie Groups.
CDC
Sangli Teng, William A. Clark, Anthony M. Bloch, Ram Vasudevan, Maani Ghaffari
2022 J jnl
Lie Algebraic Cost Function Design for Control on Lie Groups.
CoRR
Sangli Teng, William A. Clark, Anthony M. Bloch, Ram Vasudevan, Maani Ghaffari
2022 J jnl
Progress in symmetry preserving robot perception and control through geometry and learning.
Frontiers Robotics AI
Maani Ghaffari, Ray Zhang, Minghan Zhu, Chien Erh Lin, Tzu-Yuan Lin, Sangli Teng, Tingjun Li, Tianyi Liu, Jingwei Song
2021 A* conf
Legged Robot State Estimation in Slippery Environments Using Invariant Extended Kalman Filter with Velocity Update.
ICRA
Sangli Teng, Mark Wilfried Mueller, Koushil Sreenath
2021 J jnl
Legged Robot State Estimation in Slippery Environments Using Invariant Extended Kalman Filter with Velocity Update.
CoRR
Sangli Teng, Mark Wilfried Mueller, Koushil Sreenath
2021 J jnl
Toward Safety-Aware Informative Motion Planning for Legged Robots.
CoRR
Sangli Teng, Yukai Gong, Jessy W. Grizzle, Maani Ghaffari