3 papers
cs.RO2026
Stage-Aware and Roughness-Constrained Diffusion Policy for Multi-Stage Robotic Polishing
Shuai Ke, Jiexin Zhang, Huan Zhao +7
Polishing is a critical finishing process in high-end manufacturing fields such as aerospace, where surface quality directly affects the service performance and reliability of comp…
cs.RO2026
Surface Constraint Policy for Learning Surface-Constrained and Dynamically Feasible Robot Skills
Shuai Ke, Jiexin Zhang, Huan Zhao +4
Diffusion-based imitation learning methods have driven rapid progress in robot dexterous manipulation tasks. However, they have limitations when applied to tasks that involve compl…
cs.RO2026
Optimal Uncertainty-Aware Calibration for the AX=YB Problem
Yanjia Chen, Xiangfei Li, Huan Zhao +4
This article proposes a general optimization framework for solving hand-eye calibration problem. Unlike traditional methods, an iterative algorithm based on Lie algebra that achiev…