16 papers
GR2PO: Group Relative Return Policy Optimization for Continuous Robot Control
Pengqin Wang, Qiming Zhang, Shaojie Shen +1
Actor-critic architecture has been widely used in continuous robot control. However, they rely on learning a value network, introducing additional computational overhead during tra…
TacSE3: Equivariant SE(3) Motion Estimation from Low-Texture Visuotactile Images for In-Gripper Tracking and Compensation
Zhongyuan Liao, Junzhe Wang, Qingyang Liu +6
Robotic in-hand manipulation requires reliable object-motion tracking under frequent visual occlusion, yet low-texture visuotactile images provide few stable correspondences for co…
Design of an In-Pipe Robot with Contact-Angle-Guided Kinematic Decoupling for Crosstalk-Suppressed Locomotion
Min Yang, Yang Tian, Longchuang Li +2
In-pipe inspection robots must traverse confined pipeline networks with elbows and three-dimensional fittings, requiring both reliable axial traction and rapid rolling reorientatio…
UniGS: Unified Geometry-Aware Gaussian Splatting for Multimodal Rendering
Yusen Xie, Zhenmin Huang, Jianhao Jiao +2
In this paper, we propose UniGS, a unified map representation and differentiable framework for high-fidelity multimodal 3D reconstruction based on 3D Gaussian Splatting. Our framew…
Fast and Scalable Game-Theoretic Trajectory Planning with Intentional Uncertainties
Zhenmin Huang, Yusen Xie, Benshan Ma +2
Trajectory planning involving multi-agent interactions has been a long-standing challenge in the field of robotics, primarily burdened by the inherent yet intricate interactions am…
Fair Play in the Fast Lane: Integrating Sportsmanship into Autonomous Racing Systems
Zhenmin Huang, Ce Hao, Wei Zhan +2
Autonomous racing has gained significant attention as a platform for high-speed decision-making and motion control. While existing methods primarily focus on trajectory planning an…
Semi-SMD: Semi-Supervised Metric Depth Estimation via Surrounding Cameras for Autonomous Driving
Yusen Xie, Zhengmin Huang, Shaojie Shen +1
In this paper, we introduce Semi-SMD, a novel metric depth estimation framework tailored for surrounding cameras equipment in autonomous driving. In this work, the input data consi…
CoDriveVLM: VLM-Enhanced Urban Cooperative Dispatching and Motion Planning for Future Autonomous Mobility on Demand Systems
Haichao Liu, Ruoyu Yao, Wenru Liu +3
The increasing demand for flexible and efficient urban transportation solutions has spotlighted the limitations of traditional Demand Responsive Transport (DRT) systems, particular…
UDMC: Unified Decision-Making and Control Framework for Urban Autonomous Driving with Motion Prediction of Traffic Participants
Haichao Liu, Kai Chen, Yulin Li +3
Current autonomous driving systems often struggle to balance decision-making and motion control while ensuring safety and traffic rule compliance, especially in complex urban envir…
Synergizing Decision Making and Trajectory Planning Using Two-Stage Optimization for Autonomous Vehicles
Wenru Liu, Haichao Liu, Lei Zheng +2
This paper introduces a local planner that synergizes the decision making and trajectory planning modules towards autonomous driving. The decision making and trajectory planning ta…
GS-LIVM: Real-Time Photo-Realistic LiDAR-Inertial-Visual Mapping with Gaussian Splatting
Yusen Xie, Zhenmin Huang, Jin Wu +1
In this paper, we introduce GS-LIVM, a real-time photo-realistic LiDAR-Inertial-Visual mapping framework with Gaussian Splatting tailored for outdoor scenes. Compared to existing m…
A Universal Multi-Vehicle Cooperative Decision-Making Approach in Structured Roads by Mixed-Integer Potential Game
Chengzhen Meng, Zhenmin Huang, Jun Ma
Due to the intricate of real-world road topologies and the inherent complexity of autonomous vehicles, cooperative decision-making for multiple connected autonomous vehicles (CAVs)…
Integrated Decision Making and Trajectory Planning for Autonomous Driving Under Multimodal Uncertainties: A Bayesian Game Approach
Zhenmin Huang, Tong Li, Shaojie Shen +1
Modeling the interaction between traffic agents is a key issue in designing safe and non-conservative maneuvers in autonomous driving. This problem can be challenging when multi-mo…
LMMCoDrive: Cooperative Driving with Large Multimodal Model
Haichao Liu, Ruoyu Yao, Zhenmin Huang +2
To address the intricate challenges of decentralized cooperative scheduling and motion planning in Autonomous Mobility-on-Demand (AMoD) systems, this paper introduces LMMCoDrive, a…
Improved Consensus ADMM for Cooperative Motion Planning of Large-Scale Connected Autonomous Vehicles with Limited Communication
Haichao Liu, Zhenmin Huang, Zicheng Zhu +3
This paper investigates a cooperative motion planning problem for large-scale connected autonomous vehicles (CAVs) under limited communications, which addresses the challenges of h…
A Universal Cooperative Decision-Making Framework for Connected Autonomous Vehicles with Generic Road Topologies
Zhenmin Huang, Shaojie Shen, Jun Ma
Cooperative decision-making of Connected Autonomous Vehicles (CAVs) presents a longstanding challenge due to its inherent nonlinearity, non-convexity, and discrete characteristics,…