Author

Mien Van

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Preprint Oct 2026

Leveraging Human-In-The-Loop Demonstrations in Reinforcement Learning for Digital Twin-Driven Robot Flexibility

Growing automation makes collaborative robots work in more variable environments, increasing the need for adaptation. We propose a human-in-the-loop online training framework combining a digital twin (DT), reinforcement learning (RL), and human demonstrations. Unlike DTs used mainly to generate synthetic data before ta...

Yu-Zhu Sun, Mien Van, Nhat M. Nguyen et al. · 0 citations

Conference Open access Aug 2026

Perception-Aware Control Barrier Function for Safe Navigation Under Uncertain LiDAR Observation

The method combines beam-wise barrier constraints with uncertainty-aware range-rate estimation from sequential LiDAR measurements and a predictive finite-horizon extension based on constant-input propagation to provide probabilistic safety guarantees at discrete sampling instants while preserving convexity and real-tim...

K. Olayemi, Mien Van, Seán F. McLoone et al. · 2026 IEEE International Conf... · 0 citations

Open access Aug 2026

Terrain‐Adaptive Quadrupedal Locomotion Using Model Predictive Control With Impedance Control and SINDy Model Enhancement

Quadrupedal robots operating in unstructured environments require adaptive control systems that can handle diverse terrain conditions without prior surface characterization. This paper presents an integrated control architecture that combines Model Predictive Control (MPC) with adaptive impedance control and SINDy‐ba...

Peter James McConnellogue, Mien Van, Rhyss McMullan et al. · International Journal of Rob... · 0 citations