3 papers
cs.RO2026
SanD-Planner: Sample-Efficient Diffusion Planner in B-Spline Space for Robust Local Navigation
Jincheng Wang, Lingfan Bao, Tong Yang +3
The challenge of generating reliable local plans has long hindered practical applications in highly cluttered and dynamic environments. Key fundamental bottlenecks include acquirin…
cs.RO2024
Mastering Agile Jumping Skills from Simple Practices with Iterative Learning Control
Chuong Nguyen, Lingfan Bao, Quan Nguyen
Achieving precise target jumping with legged robots poses a significant challenge due to the long flight phase and the uncertainties inherent in contact dynamics and hardware. Forc…
cs.RO2022
Continuous Jumping for Legged Robots on Stepping Stones via Trajectory Optimization and Model Predictive Control
Chuong Nguyen, Lingfan Bao, Quan Nguyen
Performing highly agile dynamic motions, such as jumping or running on uneven stepping stones has remained a challenging problem in legged robot locomotion. This paper presents a f…