3 papers
cs.RO2024
ViIK: Flow-based Vision Inverse Kinematics Solver with Fusing Collision Checking
Qinglong Meng, Chongkun Xia, Xueqian Wang
Inverse Kinematics (IK) is to find the robot's configurations that satisfy the target pose of the end effector. In motion planning, diverse configurations were required in case a f…
cs.LG2024
PaddingFlow: Improving Normalizing Flows with Padding-Dimensional Noise
Qinglong Meng, Chongkun Xia, Xueqian Wang
Normalizing flow is a generative modeling approach with efficient sampling. However, Flow-based models suffer two issues: 1) If the target distribution is manifold, due to the unma…
cs.RO2024
PPNet: A Two-Stage Neural Network for End-to-end Path Planning
Qinglong Meng, Chongkun Xia, Xueqian Wang +2
The classical path planners, such as sampling-based path planners, can provide probabilistic completeness guarantees in the sense that the probability that the planner fails to ret…