8 papers
Spiking Neural-Invariant Kalman Fusion for Accurate Localization Using Low-Cost IMUs
Yaohua Liu, Qiao Xu, Binkai Ou
Low-cost inertial measurement units (IMUs) are widely utilized in mobile robot localization due to their affordability and ease of integration. However, their complex, nonlinear, a…
NeuroSymActive: Differentiable Neural-Symbolic Reasoning with Active Exploration for Knowledge Graph Question Answering
Rong Fu, Yang Li, Zeyu Zhang +7
Large pretrained language models and neural reasoning systems have advanced many natural language tasks, yet they remain challenged by knowledge-intensive queries that require prec…
Cross-Modal Visuo-Tactile Representation Learning with Action Chunking Transformers for Contact-Rich Manipulation
Yaohua Liu, Rong Fu, Amir H. Gandomi +2
Tactile feedback is important for contact-rich robotic manipulation, yet effective use of tactile observations remains challenging when tactile signals are image-like, hardware-dep…
Abstracting Robot Manipulation Skills via Mixture-of-Experts Diffusion Policies
Ce Hao, Xuanran Zhai, Yaohua Liu +1
Diffusion-based policies have recently shown strong results in robot manipulation, but their extension to multi-task scenarios is hindered by the high cost of scaling model size an…
A brain-inspired information fusion method for enhancing robot GPS outages navigation
Yaohua Liu, Hengjun Zhang, Binkai Ou
Low-cost inertial navigation systems (INS) are prone to sensor biases and measurement noise, which lead to rapid degradation of navigation accuracy during global positioning system…
CoFreeVLA: Short-Horizon Collision-Free Dual-Arm Manipulation via Vision-Language-Action Model and Risk Estimation
Yaohua Liu, Binkai Ou, Hengjun Zhang
Vision Language Action (VLA) models enable instruction-following manipulation, yet their deployment on coordinated dual-arm platforms remains severely constrained by under-modeled…
Fine-Grained Instruction-Guided Graph Reasoning for Vision-and-Language Navigation
Yaohua Liu, Binkai Ou, Rong Fu +2
Vision and Language Navigation (VLN) requires an embodied agent to traverse complex environments by following natural language instructions, demanding accurate alignment between vi…
A Prompt-driven Task Planning Method for Multi-drones based on Large Language Model
Yaohua Liu
With the rapid development of drone technology, the application of multi-drones is becoming increasingly widespread in various fields. However, the task planning technology for mul…