42 citations · 93 across the 29 of their papers we have counts for
32 papers
AESplat: Advancing Pose-Free Feed-Forward 3D Gaussian Splatting via Decoupled Appearance Modeling
Shiwei Ren, Zhiang Liu, Yongchun Fang +1
Pose-free feed-forward 3D Gaussian Splatting (3DGS) has demonstrated remarkable potential for generalized novel view synthesis. However, existing methods typically predict Gaussian…
Vision-TL-Action: Neuro-Symbolic Trajectory Generation from Visual Observations and Temporal Logic
Zezhi Liu, Zhiwei Zheng, Hanqian Luo +3
Temporal logic (TL) provides a compositional language for the formulation of long horizon robotic tasks, but existing TL-conditioned trajectory generators can sidestep perception-t…
Reconstructing Randomly Masked Spectra Helps DNNs Identify Discriminant Wavenumbers
Yingying Wu, Jinchao Liu, Yan Wang +3
Nondestructive detection methods, based on vibrational spectroscopy, are vitally important in a wide range of applications including industrial chemistry, pharmacy and national def…
Differentiable Optimization Layered Safety-Critical Control for Risk-Aware Navigation via Conformal Prediction
Jinyang Dong, Shizhen Wu, Yongchun Fang
Risk-aware navigation in unknown environments is a fundamental challenge for autonomous vehicles operating in complex urban systems. To address this issue, this paper presents a di…
Neural Network-Based Adaptive Event-Triggered Control for Dual-Arm Unmanned Aerial Manipulator Systems
Yang Wang, Hai Yu, Wei He +3
This paper investigates the control problem of dual-arm unmanned aerial manipulator systems (DAUAMs). Strong coupling between the dual-arm and the multirotor platform, together wit…
A General One-Shot Multimodal Active Perception Framework for Robotic Manipulation: Learning to Predict Optimal Viewpoint
Deyun Qin, Zezhi Liu, Hanqian Luo +2
Active perception in vision-based robotic manipulation aims to move the camera toward more informative observation viewpoints, thereby providing high-quality perceptual inputs for…
FastGS: Training 3D Gaussian Splatting in 100 Seconds
Shiwei Ren, Tianci Wen, Yongchun Fang +1
The dominant 3D Gaussian splatting (3DGS) acceleration methods fail to properly regulate the number of Gaussians during training, causing redundant computational time overhead. In…
Phase-Based Multi-Gait Learning for a Salamander-Like Robot
Zhiang Liu, Yang Liu, Yongchun Fang +1
Salamander-like robots are designed inspired by the skeletal structure of their biological counterparts. However, existing controllers cannot fully exploit these morphological feat…
Payload trajectory tracking control for aerial transportation systems with cable length online optimization
Hai Yu, Zhichao Yang, Wei He +3
Cable-suspended aerial transportation systems are employed extensively across various industries. The capability to flexibly adjust the relative position between the multirotor and…
BT-TL-DMPs: A Novel Robot TAMP Framework Combining Behavior Tree, Temporal Logic and Dynamical Movement Primitives
Zezhi Liu, Shizhen Wu, Hanqian Luo +2
In the field of Learning from Demonstration (LfD), enabling robots to generalize learned manipulation skills to novel scenarios for long-horizon tasks remains challenging. Specific…
Periodic Proprioceptive Stimuli Learning and Internal Model Development for Avian-inspired Flapping-wing Flight State Estimation
Chen Qian, Jiaxi Xing, Jifu Yan +6
This paper presents a novel learning-based approach for online state estimation in flapping wing aerial vehicles (FWAVs). Leveraging low-cost Magnetic, Angular Rate, and Gravity (M…
RINGO: Real-time Navigation with a Guiding Trajectory for Aerial Manipulators in Unknown Environments
Zhaopeng Zhang, Shizhen Wu, Chenfeng Guo +3
Motion planning for aerial manipulators in constrained environments has typically been limited to known environments or simplified to that of multi-rotors, which leads to poor adap…
Adaptive RISE Control for Dual-Arm Unmanned Aerial Manipulator Systems with Deep Neural Networks
Yang Wang, Hai Yu, Shizhen Wu +4
The unmanned aerial manipulator system, consisting of a multirotor UAV (unmanned aerial vehicle) and a manipulator, has attracted considerable interest from researchers. Neverthele…
Robust Safety Critical Control Under Multiple State and Input Constraints: Volume Control Barrier Function Method
Jinyang Dong, Shizhen Wu, Rui Liu +3
In this paper, the safety-critical control problem for uncertain systems under multiple control barrier function (CBF) constraints and input constraints is investigated. A novel fr…
Polytope Volume Monitoring Problem: Formulation and Solution via Parametric Linear Program Based Control Barrier Function
Shizhen Wu, Jinyang Dong, Xu Fang +2
Motivated by the latest research on feasible space monitoring of multiple control barrier functions (CBFs) as well as polytopic collision avoidance, this paper studies the Polytope…
Hierarchical Expert Prompt for Large-Language-Model: An Approach Defeat Elite AI in TextStarCraft II for the First Time
Zongyuan Li, Chang Lu, Xiaojie Xu +8
Since the emergence of the Large Language Model (LLM), LLM has been widely used in fields such as writing, translating, and searching. However, there is still great potential for L…
Optimization-free Smooth Control Barrier Function for Polygonal Collision Avoidance
Shizhen Wu, Yongchun Fang, Ning Sun +3
Polygonal collision avoidance (PCA) is short for the problem of collision avoidance between two polygons (i.e., polytopes in planar) that own their dynamic equations. This problem…
Reflection of Episodes: Learning to Play Game from Expert and Self Experiences
Xiaojie Xu, Zongyuan Li, Chang Lu +10
StarCraft II is a complex and dynamic real-time strategy (RTS) game environment, which is very suitable for artificial intelligence and reinforcement learning research. To address…
SEGS-SLAM: Structure-enhanced 3D Gaussian Splatting SLAM with Appearance Embedding
Tianci Wen, Zhiang Liu, Yongchun Fang
3D Gaussian splatting (3D-GS) has recently revolutionized novel view synthesis in the simultaneous localization and mapping (SLAM) problem. However, most existing algorithms fail t…
Minimum Snap Trajectory Generation and Control for an Under-actuated Flapping Wing Aerial Vehicle
Chen Qian, Rui Chen, Peiyao Shen +3
Minimum Snap Trajectory Generation and Control for an Under-actuated Flapping Wing Aerial VehicleThis paper presents both the trajectory generation and tracking control strategies…
Learning Adaptable Risk-Sensitive Policies to Coordinate in Multi-Agent General-Sum Games
Ziyi Liu, Yongchun Fang
In general-sum games, the interaction of self-interested learning agents commonly leads to socially worse outcomes, such as defect-defect in the iterated stag hunt (ISH). Previous…
Towards Practical Autonomous Flight Simulation for Flapping Wing Biomimetic Robots with Experimental Validation
Chen Qian, Yongchun Fang, Fan jia +3
Tried-and-true flapping wing robot simulation is essential in developing flapping wing mechanisms and algorithms. This paper presents a novel application-oriented flapping wing pla…
Learning Generalizable Risk-Sensitive Policies to Coordinate in Decentralized Multi-Agent General-Sum Games
Ziyi Liu, Xian Guo, Yongchun Fang
While various multi-agent reinforcement learning methods have been proposed in cooperative settings, few works investigate how self-interested learning agents achieve mutual coordi…
GVD Planner: Efficient Motion Planning With Grid-based Generalized Voronoi Diagrams
Jian Wen, Xuebo Zhang, Qingchen Bi +3
In this paper, an efficient motion planning approach with grid-based generalized Voronoi diagrams (GVD) is newly proposed for mobile robots. Different from existing…