25 citations · 31 across the 16 of their papers we have counts for
17 papers
Real-Time Minimum-Energy Operating-Point Tracking for Battery-Powered Micro DC Motors Under Dynamically Variable Loading
Tzu-Hsiang Huang, Haojian Lu, Hen-Wei Huang +1
Micro DC brushed motors are widely deployed in battery-powered biomedical systems, where limited energy budgets and variable physiological loading impose stringent efficiency and s…
Reference-Augmented Learning for Precise Tracking Policy of Tendon-Driven Continuum Robots
Ziqing Zou, Ke Qiu, Haojian Lu +2
Tendon-Driven Continuum Robots (TDCRs) pose significant control challenges due to their highly nonlinear, path-dependent dynamics and non-Markovian characteristics. Traditional Jac…
Learning-Based Dynamics Modeling and Robust Control for Tendon-Driven Continuum Robots
Ziqing Zou, Ke Qiu, Fei Wang +3
Tendon-Driven Continuum Robots (TDCRs) pose significant modeling and control challenges due to complex nonlinearities, such as frictional hysteresis and transmission compliance. Th…
Seeing to Act, Prompting to Specify: A Bayesian Factorization of Vision Language Action Policy
Kechun Xu, Zhenjie Zhu, Anzhe Chen +7
The pursuit of out-of-distribution generalization in Vision-Language-Action (VLA) models is often hindered by catastrophic forgetting of the Vision-Language Model (VLM) backbone du…
Compliance while resisting: a shear-thickening fluid controller for physical human-robot interaction
Lu Chen, Lipeng Chen, Xiangchi Chen +6
Physical human-robot interaction (pHRI) is widely needed in many fields, such as industrial manipulation, home services, and medical rehabilitation, and puts higher demands on the…
UniMM: A Unified Mixture Model Framework for Multi-Agent Simulation
Longzhong Lin, Xuewu Lin, Kechun Xu +4
Simulation plays a crucial role in assessing autonomous driving systems, where the generation of realistic multi-agent behaviors is a key aspect. In multi-agent simulation, the pri…
Leverage Cross-Attention for End-to-End Open-Vocabulary Panoptic Reconstruction
Xuan Yu, Yuxuan Xie, Yili Liu +4
Open-vocabulary panoptic reconstruction offers comprehensive scene understanding, enabling advances in embodied robotics and photorealistic simulation. In this paper, we propose Pa…
RING#: PR-by-PE Global Localization with Roto-translation Equivariant Gram Learning
Sha Lu, Xuecheng Xu, Yuxuan Wu +4
Global localization using onboard perception sensors, such as cameras and LiDARs, is crucial in autonomous driving and robotics applications when GPS signals are unreliable. Most a…
Pretraining-finetuning Framework for Efficient Co-design: A Case Study on Quadruped Robot Parkour
Ci Chen, Jiyu Yu, Haojian Lu +3
In nature, animals with exceptional locomotion abilities, such as cougars, often possess asymmetric fore and hind legs. This observation inspired us: could optimizing the leg lengt…
GS-Planner: A Gaussian-Splatting-based Planning Framework for Active High-Fidelity Reconstruction
Rui Jin, Yuman Gao, Yingjian Wang +2
Active reconstruction technique enables robots to autonomously collect scene data for full coverage, relieving users from tedious and time-consuming data capturing process. However…
Grasp, See, and Place: Efficient Unknown Object Rearrangement with Policy Structure Prior
Kechun Xu, Zhongxiang Zhou, Jun Wu +3
We focus on the task of unknown object rearrangement, where a robot is supposed to re-configure the objects into a desired goal configuration specified by an RGB-D image. Recent wo…
3D Model-free Visual Localization System from Essential Matrix under Local Planar Motion
Yanmei Jiao, Binxin Zhang, Peng Jiang +3
Visual localization plays a critical role in the functionality of low-cost autonomous mobile robots. Current state-of-the-art approaches for achieving accurate visual localization…
An Efficient Multi-solution Solver for the Inverse Kinematics of 3-Section Constant-Curvature Robots
Ke Qiu, Jingyu Zhang, Danying Sun +3
Piecewise constant curvature is a popular kinematics framework for continuum robots. Computing the model parameters from the desired end pose, known as the inverse kinematics probl…
RING++: Roto-translation Invariant Gram for Global Localization on a Sparse Scan Map
Xuecheng Xu, Sha Lu, Jun Wu +5
Global localization plays a critical role in many robot applications. LiDAR-based global localization draws the community's focus with its robustness against illumination and seaso…
C^2:Co-design of Robots via Concurrent Networks Coupling Online and Offline Reinforcement Learning
Ci Chen, Pingyu Xiang, Haojian Lu +2
With the increasing computing power, using data-driven approaches to co-design a robot's morphology and controller has become a promising way. However, most existing data-driven me…
DPCN++: Differentiable Phase Correlation Network for Versatile Pose Registration
Zexi Chen, Yiyi Liao, Haozhe Du +5
Pose registration is critical in vision and robotics. This paper focuses on the challenging task of initialization-free pose registration up to 7DoF for homogeneous and heterogeneo…
Learning A Simulation-based Visual Policy for Real-world Peg In Unseen Holes
Liang Xie, Hongxiang Yu, Kechun Xu +5
This paper proposes a learning-based visual peg-in-hole that enables training with several shapes in simulation, and adapting to arbitrary unseen shapes in real world with minimal…