7 papers
CoDiMAD: Diffusion-Based Privileged Distillation for Communication-Free Multi-Robot Coordination
Jiyue Tao, Shunheng Xin, Tongsheng Shen +2
Decentralized multi-robot coordination under partial observability remains challenging, especially in communication-free settings where agents must act solely from local sensor obs…
ST-Booster: An Iterative SpatioTemporal Perception Booster for Vision-and-Language Navigation in Continuous Environments
Lu Yue, Dongliang Zhou, Liang Xie +2
Vision-and-Language Navigation in Continuous Environments (VLN-CE) requires agents to navigate unknown, continuous spaces based on natural language instructions. Compared to discre…
ARBoids: Adaptive Residual Reinforcement Learning With Boids Model for Cooperative Multi-USV Target Defense
Jiyue Tao, Tongsheng Shen, Dexin Zhao +1
The target defense problem (TDP) for unmanned surface vehicles (USVs) concerns intercepting an adversarial USV before it breaches a designated target region, using one or more defe…
Design, Dynamic Modeling and Control of a 2-DOF Robotic Wrist Actuated by Twisted and Coiled Actuators
Yunsong Zhang, Xinyu Zhou, Feitian Zhang
Artificial muscle-driven modular soft robots exhibit significant potential for executing complex tasks. However, their broader applicability remains constrained by the lack of dyna…
An Efficient Learning Control Framework With Sim-to-Real for String-Type Artificial Muscle-Driven Robotic Systems
Jiyue Tao, Yunsong Zhang, Sunil Kumar Rajendran +1
Robotic systems driven by artificial muscles present unique challenges due to the nonlinear dynamics of actuators and the complex designs of mechanical structures. Traditional mode…
Bioinspired Sensing of Undulatory Flow Fields Generated by Leg Kicks in Swimming
Jun Wang, Tongsheng Shen, Dexin Zhao +1
The artificial lateral line (ALL) is a bioinspired flow sensing system for underwater robots, comprising of distributed flow sensors. The ALL has been successfully applied to detec…