3 papers
cs.RO2026
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…
cs.RO2026
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…
cs.RO2026
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…