4 papers
Residual Fault Adaptation for Dexterous In-Hand Manipulation Under Runtime Joint Faults
Linan Deng, Xing Liu, Lin Hong +4
Dexterous in-hand manipulation requires coordinated control of multiple actuated joints, and a runtime joint fault can abruptly disrupt the contact configuration required for succe…
Learning Robust Control Policies for Inverted Pose on Miniature Blimp Robots
Yuanlin Yang, Lin Hong, Fumin Zhang
The ability to achieve and maintain inverted poses is essential for unlocking the full agility of miniature blimp robots (MBRs). However, developing reliable inverted control strat…
Control of Marine Robots in the Era of Data-Driven Intelligence
Lin Hong, Lu Liu, Zhouhua Peng +1
The control of marine robots has long relied on model-based methods grounded in classical and modern control theory. However, the nonlinearity and uncertainties inherent in robot d…
Pick-and-place Manipulation Across Grippers Without Retraining: A Learning-optimization Diffusion Policy Approach
Xiangtong Yao, Yirui Zhou, Yuan Meng +7
Current robotic pick-and-place policies typically require consistent gripper configurations across training and inference. This constraint imposes high retraining or fine-tuning co…