6 papers · 1 filter
AnyBody: Free-Form Whole-Body Humanoid Control from Arbitrary Keypoint Guidance
Shuning Li, Sikai Li, Jiachen Li +1
We present AnyBody, a unified whole-body humanoid controller driven by an arbitrary subset of body keypoints chosen at deploy time. Prior physics-based trackers either rely on expe…
Behavioral Score Diffusion: Model-Free Trajectory Planning via Kernel-Based Score Estimation from Data
Shihao Li, Jiachen Li, Jiamin Xu +1
Diffusion-based trajectory optimization has emerged as a powerful planning paradigm, but existing methods require either learned score networks trained on large datasets or analyti…
Fleet-Level Battery-Health-Aware Scheduling for Autonomous Mobile Robots
Jiachen Li, Shihao Li, Jian Chu +2
Autonomous mobile robot fleets must coordinate task allocation and charging under limited shared resources, yet most battery aware planning methods address only a single robot. Thi…
Auction-Based Task Allocation with Energy-Conscientious Trajectory Optimization for AMR Fleets
Jiachen Li, Soovadeep Bakshi, Jian Chu +2
This paper presents a hierarchical two-stage framework for multi-robot task allocation and trajectory optimization in asymmetric task spaces: (1) a sequential auction allocates tas…
Constrained Optimal Planning to Minimize Battery Degradation of Autonomous Mobile Robots
Jiachen Li, Jian Chu, Feiyang Zhao +3
This paper proposes an optimization framework that addresses both cycling degradation and calendar aging of batteries for autonomous mobile robot (AMR) to minimize battery degradat…
Robust Optimal Task Planning to Maximize Battery Life
Jiachen Li, Chu Jian, Feiyang Zhao +3
This paper proposes a control-oriented optimization platform for autonomous mobile robots (AMRs), focusing on extending battery life while ensuring task completion. The requirement…