26 citations · 89 across the 19 of their papers we have counts for
19 papers
Time-Division Multiplexing Actuation in Tendon-Driven Arms: Lightweight Design and Fault Tolerance
Shoujie Li, Changqing Guo, Jianle Xu +4
Robotic manipulators for aerospace applications require a delicate balance between lightweight construction and fault-tolerant operation to satisfy strict weight limitations and en…
DeepMF: Deep Motion Factorization for Closed-Loop Safety-Critical Driving Scenario Simulation
Yizhe Li, Linrui Zhang, Xueqian Wang +2
Safety-critical traffic scenarios are of great practical relevance to evaluating the robustness of autonomous driving (AD) systems. Given that these long-tail events are extremely…
Trajectory Planning for Teleoperated Space Manipulators Using Deep Reinforcement Learning
Bo Xia, Xianru Tian, Bo Yuan +3
Trajectory planning for teleoperated space manipulators involves challenges such as accurately modeling system dynamics, particularly in free-floating modes with non-holonomic cons…
PPNet: A Two-Stage Neural Network for End-to-end Path Planning
Qinglong Meng, Chongkun Xia, Xueqian Wang +2
The classical path planners, such as sampling-based path planners, can provide probabilistic completeness guarantees in the sense that the probability that the planner fails to ret…
RH-Map: Online Map Construction Framework of Dynamic Objects Removal Based on Region-wise Hash Map Structure
Zihong Yan, Xiaoyi Wu, Zhuozhu Jian +2
Mobile robots navigating in outdoor environments frequently encounter the issue of undesired traces left by dynamic objects and manifested as obstacles on map, impeding robots from…
Path Generation for Wheeled Robots Autonomous Navigation on Vegetated Terrain
Zhuozhu Jian, Zejia Liu, Haoyu Shao +3
Wheeled robot navigation has been widely used in urban environments, but little research has been conducted on its navigation in wild vegetation. External sensors (LiDAR, camera et…
Hybrid Trajectory Optimization for Autonomous Terrain Traversal of Articulated Tracked Robots
Zhengzhe Xu, Yanbo Chen, Zhuozhu Jian +3
Autonomous terrain traversal of articulated tracked robots can reduce operator cognitive load to enhance task efficiency and facilitate extensive deployment. We present a novel hyb…
Foldsformer: Learning Sequential Multi-Step Cloth Manipulation With Space-Time Attention
Kai Mo, Chongkun Xia, Xueqian Wang +3
Sequential multi-step cloth manipulation is a challenging problem in robotic manipulation, requiring a robot to perceive the cloth state and plan a sequence of chained actions lead…
The Simplest Balance Controller for Dynamic Walking
Linqi Ye, Xueqian Wang, Houde Liu +1
Humans can balance very well during walking, even when perturbed. But it seems difficult to achieve robust walking for bipedal robots. Here we describe the simplest balance control…
Dynamic Control Barrier Function-based Model Predictive Control to Safety-Critical Obstacle-Avoidance of Mobile Robot
Zhuozhu Jian, Zihong Yan, Xuanang Lei +4
This paper presents an efficient and safe method to avoid static and dynamic obstacles based on LiDAR. First, point cloud is used to generate a real-time local grid map for obstacl…
Dynamics-Adaptive Continual Reinforcement Learning via Progressive Contextualization
Tiantian Zhang, Zichuan Lin, Yuxing Wang +7
A key challenge of continual reinforcement learning (CRL) in dynamic environments is to promptly adapt the RL agent's behavior as the environment changes over its lifetime, while m…
PUTN: A Plane-fitting based Uneven Terrain Navigation Framework
Zhuozhu Jian, Zihong Lu, Xiao Zhou +4
Autonomous navigation of ground robots has been widely used in indoor structured 2D environments, but there are still many challenges in outdoor 3D unstructured environments, espec…
Quadruped Guidance Robot for the Visually Impaired: A Comfort-Based Approach
Yanbo Chen, Zhengzhe Xu, Zhuozhu Jian +5
Guidance robots that can guide people and avoid various obstacles, could potentially be owned by more visually impaired people at a fairly low cost. Most of the previous guidance r…
A Surrogate-Assisted Controller for Expensive Evolutionary Reinforcement Learning
Yuxing Wang, Tiantian Zhang, Yongzhe Chang +3
The integration of Reinforcement Learning (RL) and Evolutionary Algorithms (EAs) aims at simultaneously exploiting the sample efficiency as well as the diversity and robustness of…
Probability Density Estimation Based Imitation Learning
Yang Liu, Yongzhe Chang, Shilei Jiang +3
Imitation Learning (IL) is an effective learning paradigm exploiting the interactions between agents and environments. It does not require explicit reward signals and instead tries…
Orientation to Pose: Continuum Robots Shape Sensing Based on Piecewise Polynomial Curvature Model
Hao Cheng, Hongji Shang, Bin Lan +3
Continuum robots are typically slender and flexible with infinite freedoms in theory, which poses a challenge for their control and application. The shape sensing of continuum robo…
Approximate Piecewise Constant Curvature Equivalent Model and Their Application to Continuum Robot Configuration Estimation
Hao Cheng, Houde Liu, Xueqian Wang +1
The continuum robot has attracted more attention for its flexibility. Continuum robot kinematics models are the basis for further perception, planning, and control. The design and…
Distributed Detection of Sparse Stochastic Signals via Fusion of 1-bit Local Likelihood Ratios
Chengxi Li, You He, Xueqian Wang +2
In this letter, we consider the detection of sparse stochastic signals with sensor networks (SNs), where the fusion center (FC) collects 1-bit data from the local sensors and then…
Simulation Experiment of BCI Based on Imagined Speech EEG Decoding
Kang Wang, Xueqian Wang, Gang Li
Brain Computer Interface (BCI) can help patients of neuromuscular diseases restore parts of the movement and communication abilities that they have lost. Most of BCIs rely on mappi…