19 citations · 50 across the 21 of their papers we have counts for
22 papers
AISPO: Enhancing Depth Reliability for Robotic Manipulation of Non-Lambertian Objects via Affine-Invariant Shape Prior
Zhiming Chen, Linfang Zheng, Kun Zhang +4
Reliable depth perception is critical for robotic manipulation, especially for non-Lambertian objects such as transparent or highly specular surfaces, where raw depth measurements…
LIPM-Guided Reinforcement Learning for Stable and Perceptive Locomotion in Bipedal Robots
Haokai Su, Haoxiang Luo, Shunpeng Yang +3
Achieving stable and robust perceptive locomotion for bipedal robots in unstructured outdoor environments remains a critical challenge due to complex terrain geometry and susceptib…
Multi-Loco: Unifying Multi-Embodiment Legged Locomotion via Reinforcement Learning Augmented Diffusion
Shunpeng Yang, Zhen Fu, Zhefeng Cao +4
Generalizing locomotion policies across diverse legged robots with varying morphologies is a key challenge due to differences in observation/action dimensions and system dynamics.…
A Practical Introduction to Deep Reinforcement Learning
Yinghan Sun, Hongxi Wang, Hua Chen +1
Deep reinforcement learning (DRL) has emerged as a powerful framework for solving sequential decision-making problems, achieving remarkable success in a wide range of applications,…
Multi-Embodiment Robotic Retargeting via Guided Diffusion Model
Zhefeng Cao, Ben Liu, Shunpeng Yang +3
Motion retargeting for specific robot from existing motion datasets is one critical step in transferring motion patterns from human behaviors to and across various robots. However,…
Learning Whole-Body Loco-Manipulation for Omni-Directional Task Space Pose Tracking with a Wheeled-Quadrupedal-Manipulator
Kaiwen Jiang, Zhen Fu, Junde Guo +2
In this paper, we study the whole-body loco-manipulation problem using reinforcement learning (RL). Specifically, we focus on the problem of how to coordinate the floating base and…
CTS: Concurrent Teacher-Student Reinforcement Learning for Legged Locomotion
Hongxi Wang, Haoxiang Luo, Wei Zhang +1
Thanks to recent explosive developments of data-driven learning methodologies, reinforcement learning (RL) emerges as a promising solution to address the legged locomotion problem…
POMDP-Guided Active Force-Based Search for Robotic Insertion
Chen Wang, Haoxiang Luo, Kun Zhang +3
In robotic insertion tasks where the uncertainty exceeds the allowable tolerance, a good search strategy is essential for successful insertion and significantly influences efficien…
Task-Space Riccati Feedback based Whole Body Control for Underactuated Legged Locomotion
Shunpeng Yang, Zejun Hong, Sen Li +3
This manuscript primarily aims to enhance the performance of whole-body controllers(WBC) for underactuated legged locomotion. We introduce a systematic parameter design mechanism f…
Multi-Resolution Planar Region Extraction for Uneven Terrains
Yinghan Sun, Linfang Zheng, Hua Chen +1
This paper studies the problem of extracting planar regions in uneven terrains from unordered point cloud measurements. Such a problem is critical in various robotic applications s…
SMAT: Simultaneous and Self-Reinforced Mapping and Tracking in Dynamic Urban Scenariosorcing Framework for Simultaneous Mapping and Tracking in Unbounded Urban Environments
Tingxiang Fan, Bowen Shen, Yinqiang Zhang +5
Despite the increasing prevalence of robots in daily life, their navigation capabilities are still limited to environments with prior knowledge, such as a global map. To fully unlo…
Coordinated Defense Allocation in Reach-Avoid Scenarios with Efficient Online Optimization
Junwei Liu, Zikai Ouyang, Jiahui Yang +3
In this paper, we present a dual-layer online optimization strategy for defender robots operating in multiplayer reach-avoid games within general convex environments. Our goal is t…
HS-Pose: Hybrid Scope Feature Extraction for Category-level Object Pose Estimation
Linfang Zheng, Chen Wang, Yinghan Sun +5
In this paper, we focus on the problem of category-level object pose estimation, which is challenging due to the large intra-category shape variation. 3D graph convolution (3D-GC)…
Real-time Trajectory Optimization and Control for Ball Bumping with Quadruped Robots
Qiayuan Liao, Zhefeng Cao, Hua Chen +1
This paper studies real-time motion planning and control for ball bumping motion with quadruped robots. To enable the quadruped to bump the flying ball with different initializatio…
Polytopic Planar Region Characterization of Rough Terrains for Legged Locomotion
Zhi Xu, Hongbo Zhu, Hua Chen +1
This paper studies the problem of constructing polytopic representations of planar regions from depth camera readings. This problem is of great importance for terrain mapping in co…
DynamicFilter: an Online Dynamic Objects Removal Framework for Highly Dynamic Environments
Tingxiang Fan, Bowen Shen, Hua Chen +2
Emergence of massive dynamic objects will diversify spatial structures when robots navigate in urban environments. Therefore, the online removal of dynamic objects is critical. In…
Quadruped Capturability and Push Recovery via a Switched-Systems Characterization of Dynamic Balance
Hua Chen, Zejun Hong, Shunpeng Yang +2
This paper studies capturability and push recovery for quadrupedal locomotion. Despite the rich literature on capturability analysis and push recovery control for legged robots, ex…
Encirclement Guaranteed Cooperative Pursuit with Robust Model Predictive Control
Chen Wang, Hua Chen, Jia Pan +1
This paper studies a novel encirclement guaranteed cooperative pursuit problem involving pursuers and a single evader in an unbounded two-dimensional game domain. Throughout th…
Force-feedback based Whole-body Stabilizer for Position-Controlled Humanoid Robots
Shunpeng Yang, Hua Chen, Zhen Fu +1
This paper studies stabilizer design for position-controlled humanoid robots. Stabilizers are an essential part for position-controlled humanoids, whose primary objective is to adj…
Instantaneous Capture Input for Balancing the Variable Height Inverted Pendulum
Junwei Liu, Hua Chen, Patrick M. Wensing +1
Balancing is a fundamental need for legged robots due to their unstable floating-base nature. Balance control has been thoroughly studied for simple models such as the linear inver…
Underactuated Motion Planning and Control for Jumping with Wheeled-Bipedal Robots
Hua Chen, Bingheng Wang, Zejun Hong +3
This paper studies jumping for wheeled-bipedal robots, a motion that takes full advantage of the benefits from the hybrid wheeled and legged design features. A comprehensive hierar…
Autonomous Social Distancing in Urban Environments using a Quadruped Robot
Tingxiang Fan, Zhiming Chen, Xuan Zhao +5
COVID-19 pandemic has become a global challenge faced by people all over the world. Social distancing has been proved to be an effective practice to reduce the spread of COVID-19.…