4 papers
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…
AttenA+: Rectifying Action Inequality in Robotic Foundation Models
Daojie Peng, Fulong Ma, Jiahang Cao +7
Existing robotic foundation models, while powerful, are predicated on an implicit assumption of temporal homogeneity: treating all actions as equally informative during optimizatio…
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…
FusionPortableV2: A Unified Multi-Sensor Dataset for Generalized SLAM Across Diverse Platforms and Scalable Environments
Hexiang Wei, Jianhao Jiao, Xiangcheng Hu +7
Simultaneous Localization and Mapping (SLAM) technology has been widely applied in various robotic scenarios, from rescue operations to autonomous driving. However, the generalizat…