continuum robots 1gpu acceleration 1kinematics solving 1motion planning 1nonlinear optimization 1tendon-driven actuation 1
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cs.RO2026
CR-Solver: GPU-Accelerated Kinematics Solver for Tendon-driven Continuum Robots
Heqing Yang, Yang Yi, Linqing Zhong +2
The paper introduces CR-Solver, a GPU‑accelerated optimization framework that solves inverse kinematics, path following, and trajectory planning for tendon‑driven continuum robots…
cs.RO2026
EVA-Client: A Unified Data Collection, Inference, and Deployment Framework for Embodied Policies on Real Robots
Heqing Yang, Yang Yi, Liyao Wang +8
We present EVA-Client, an open-source framework for deployment, data collection, and evaluation of trained manipulation policies on real robots. Sitting between a policy server and…
cs.RO2026
Integrated Exploration and Sequential Manipulation on Scene Graph with LLM-based Situated Replanning
Heqing Yang, Ziyuan Jiao, Shu Wang +3
In partially known environments, robots must combine exploration to gather information with task planning for efficient execution. To address this challenge, we propose EPoG, an Ex…