8 papers
GCS-Bridging: Restoring Connectivity of Disconnected Convex Sets for Graph-of-Convex-Sets Motion Planning
Xiaokai Zhou, Baoshi Cao, Yang Liu +4
Graph-of-Convex-Sets (GCS)-based trajectory optimization represents collision-free regions in configuration space as a finite collection of convex sets and directly performs collis…
HCPG-Flow:Hierarchical Contact-Progress Guidance for Flow-Policy Robot Manipulation
Guanghu Xie, Mingxu Li, Shuo Zhang +5
Flow policies can represent multimodal action distributions for robot manipulation, yet a robot must execute one action at each control step. When several proposals are sampled, cr…
CoLA-Flow Policy: Temporally Coherent Imitation Learning via Continuous Latent Action Flow Matching for Robotic Manipulation
Wu Songwei, Jiang Zhiduo, Sun Wandong +4
Learning long-horizon robotic manipulation requires jointly achieving expressive behavior modeling, real-time inference, and stable execution, which remains challenging for existin…
ULC: A Unified and Fine-Grained Controller for Humanoid Loco-Manipulation
Wandong Sun, Luying Feng, Baoshi Cao +3
Loco-Manipulation for humanoid robots aims to enable robots to integrate mobility with upper-body tracking capabilities. Most existing approaches adopt hierarchical architectures t…
Depth-PC: A Visual Servo Framework Integrated with Cross-Modality Fusion for Sim2Real Transfer
Haoyu Zhang, Yang Liu, Yimu Jiang +2
Visual servoing techniques guide robotic motion using visual information to accomplish manipulation tasks, requiring high precision and robustness against noise. Traditional method…
Mars Traversability Prediction: A Multi-modal Self-supervised Approach for Costmap Generation
Zongwu Xie, Kaijie Yun, Yang Liu +2
We present a robust multi-modal framework for predicting traversability costmaps for planetary rovers. Our model fuses camera and LiDAR data to produce a bird's-eye-view (BEV) terr…