5 papers
Dynamic Constraint Reconstruction Based Control Barrier Functions for Safety-Critical Control of High-Dimensional Manipulators
Bingsheng Zhang, Shen Wang, Qiang Wang +3
Control barrier functions (CBFs) provide formal safety guarantees for constrained nonlinear systems, but their effectiveness relies on accurate system dynamics. In high-dimensional…
Learning a System-Level Surrogate for Hydraulic Excavators: A Simulation-to-Real LSTM Approach
Shuai Wang, Shen Wang, Qiang Wang +4
Developing autonomous hydraulic excavators is constrained by limited access to physical machines and the high cost of real-world experimentation. This paper proposes a simulation-t…
RoboBrain 2.5: Depth in Sight, Time in Mind
Huajie Tan, Enshen Zhou, Zhiyu Li +32
We introduce RoboBrain 2.5, a next-generation embodied AI foundation model that advances general perception, spatial reasoning, and temporal modeling through extensive training on…
AG-Fusion: adaptive gated multimodal fusion for 3d object detection in complex scenes
Sixian Liu, Chen Xu, Qiang Wang +2
Multimodal camera-LiDAR fusion technology has found extensive application in 3D object detection, demonstrating encouraging performance. However, existing methods exhibit significa…
RoboBrain 2.0 Technical Report
BAAI RoboBrain Team, Mingyu Cao, Huajie Tan +50
We introduce RoboBrain 2.0, our latest generation of embodied vision-language foundation models, designed to unify perception, reasoning, and planning for complex embodied tasks in…