5 papers
Robust Policy Expansion for Offline-to-Online RL under Diverse Data Corruption
Longxiang He, Deheng Ye, Junbo Tan +2
Pretraining a policy on offline data followed by fine-tuning through online interactions, known as Offline-to-Online Reinforcement Learning (O2O RL), has emerged as a promising par…
A Hybrid Force-Position Strategy for Shape Control of Deformable Linear Objects With Graph Attention Networks
Yanzhao Yu, Haotian Yang, Junbo Tan +1
Manipulating deformable linear objects (DLOs) such as wires and cables is crucial in various applications like electronics assembly and medical surgeries. However, it faces challen…
Data-Driven MPC with Data Selection for Flexible Cable-Driven Robotic Arms
Huayue Liang, Yanbo Chen, Hongyang Cheng +5
Flexible cable-driven robotic arms (FCRAs) offer dexterous and compliant motion. Still, the inherent properties of cables, such as resilience, hysteresis, and friction, often lead…
A Universal Vehicle-Trailer Navigation System with Neural Kinematics and Online Residual Learning
Yanbo Chen, Yunzhe Tan, Yaojia Wang +3
Autonomous navigation of vehicle-trailer systems is crucial in environments like airports, supermarkets, and concert venues, where various types of trailers are needed to navigate…
Unlocking adaptive digital pathology through dynamic feature learning
Jiawen Li, Tian Guan, Qingxin Xia +17
Foundation models have revolutionized the paradigm of digital pathology, as they leverage general-purpose features to emulate real-world pathological practices, enabling the quanti…