21 citations · 22 across the 12 of their papers we have counts for
14 papers
FOMI: A Force-Feedback Manipulation Interface for Teaching Contact-Rich Manipulation
Yishu Shen, Yiming Luo, Ruilin Wang +7
Robot-free collection with handheld interfaces enables scalable acquisition of human demonstrations for policy learning. However, existing handheld interfaces often provide limited…
Sphere-VIO: Fast and Robust Visual-Inertial Odometry via Unified Spherical Representation for Heterogeneous Multi-Camera Systems
Yueteng Yang, Yusen Xie, Hao Wei +5
Multi-camera visual-inertial odometry (VIO) overcomes the inherent limitations of pure visual systems by expanding the field of view. However, existing algorithms are typically tai…
LAGO Policy: Latency-Aware Asynchronous Diffusion Policies with Goal-Directed Collision-Free Planning for Smooth Manipulation
Guowei Shi, Xupeng Xie, Yiming Luo +3
Diffusion-based visuomotor policies deployed with asynchronous inference often exhibit inter-chunk discontinuities and lack explicit mechanisms for obstacle-aware execution, leadin…
Palm-sized Omnidirectional Vision-Based UAV Exploration with Sparse Topological Map Guidance
Zirui Wang, Xinjia Luo, Haotian Sun +3
Classic exploration methods often rely on dense occupancy maps or high-resolution point clouds for frontier detection and path planning, resulting in substantial memory consumption…
AirHunt: Bridging VLM Semantics and Continuous Planning for Efficient Aerial Object Navigation
Xuecheng Chen, Zongzhuo Liu, Jianfa Ma +4
Recent advances in large Vision-Language Models (VLMs) have provided rich semantic understanding that empowers drones to search for open-set objects via natural language instructio…
D-VPR: A Parameter-efficient Visual-foundation-model-based Visual Place Recognition Method via Knowledge Distillation and Deformable Aggregation
Zheyuan Zhang, Jiwei Zhang, Boyu Zhou +2
Visual Place Recognition (VPR) aims to determine the geographic location of a query image by retrieving its most visually similar counterpart from a geo-tagged reference database.…
GUIDE: A Diffusion-Based Autonomous Robot Exploration Framework Using Global Graph Inference
Zijun Che, Yinghong Zhang, Shengyi Liang +3
Autonomous exploration in structured and complex indoor environments remains a challenging task, as existing methods often struggle to appropriately model unobserved space and plan…
DynamicPose: Real-time and Robust 6D Object Pose Tracking for Fast-Moving Cameras and Objects
Tingbang Liang, Yixin Zeng, Jiatong Xie +1
We present DynamicPose, a retraining-free 6D pose tracking framework that improves tracking robustness in fast-moving camera and object scenarios. Previous work is mainly applicabl…
FERMI: Flexible Radio Mapping with a Hybrid Propagation Model and Scalable Autonomous Data Collection
Yiming Luo, Yunfei Wang, Hongming Chen +6
Communication is fundamental for multi-robot collaboration, with accurate radio mapping playing a crucial role in predicting signal strength between robots. However, modeling radio…
ApexNav: An Adaptive Exploration Strategy for Zero-Shot Object Navigation with Target-centric Semantic Fusion
Mingjie Zhang, Yuheng Du, Chengkai Wu +4
Navigating unknown environments to find a target object is a significant challenge. While semantic information is crucial for navigation, relying solely on it for decision-making m…
Perception-aware Planning for Quadrotor Flight in Unknown and Feature-limited Environments
Chenxin Yu, Zihong Lu, Jie Mei +1
Various studies on perception-aware planning have been proposed to enhance the state estimation accuracy of quadrotors in visually degraded environments. However, many existing met…
AKF-LIO: LiDAR-Inertial Odometry with Gaussian Map by Adaptive Kalman Filter
Xupeng Xie, Ruoyu Geng, Jun Ma +1
Existing LiDAR-Inertial Odometry (LIO) systems typically use sensor-specific or environment-dependent measurement covariances during state estimation, leading to laborious paramete…
Local Reactive Control for Mobile Manipulators with Whole-Body Safety in Complex Environments
Chunxin Zheng, Yulin Li, Zhiyuan Song +4
Mobile manipulators typically encounter significant challenges in navigating narrow, cluttered environments due to their high-dimensional state spaces and complex kinematics. While…
EPIC: A Lightweight LiDAR-Based UAV Exploration Framework for Large-Scale Scenarios
Shuang Geng, Zelin Ning, Fu Zhang +1
Autonomous exploration is a fundamental problem for various applications of unmanned aerial vehicles (UAVs). Recently, LiDAR-based exploration has gained significant attention due…