14 papers
Latent Diffusion Policy: Shaping Latent Spaces for Diffusion-Based Robotic Manipulation
Zhexuan Zhou, Yichen Lai, Jinhao Zhang +3
Diffusion-based visuomotor policies operating directly in raw action spaces conflate scene comprehension with trajectory generation within a single denoising process. The resulting…
PerchRL: Vision-Based Agile Perching on Inclined Platforms under Rapid and Irregular Motion
Zihong Lu, Zongzhuo Liu, Huaxu Li +6
Autonomous vision-based perching of quadrotors on moving inclined platforms is critical for air-ground collaboration but remains challenging due to the limited field of view (FOV).…
Hyper-DP3: Frequency-Aware Right-Sizing of 3D Diffusion Policies for Visuomotor Control
Jinhao Zhang, Zhexuan Zhou, Huizhe Li +5
Diffusion-based visuomotor policies perform well in robotic manipulation, yet current methods still inherit image-generation-style decoders and multi-step sampling. We revisit this…
C-Explorer: Contiguity-Driven Task Allocation with Connectivity-Aware Task Representation for Decentralized Multi-UAV Exploration
Xinlu Yan, Mingjie Zhang, Yuhao Fang +5
Efficient multi-UAV exploration under limited communication is severely bottlenecked by inadequate task representation and allocation. Previous task representations either impose h…
Decentralized End-to-End Multi-AAV Pursuit Using Predictive Spatio-Temporal Observation via Deep Reinforcement Learning
Yude Li, Zhexuan Zhou, Huizhe Li +6
Decentralized cooperative pursuit in cluttered environments is challenging for autonomous aerial swarms, especially under partial and noisy perception. Existing methods often rely…
PocketDP3: Efficient Pocket-Scale 3D Visuomotor Policy
Jinhao Zhang, Zhexuan Zhou, Huizhe Li +5
Recently, 3D vision-based diffusion policies have shown strong capability in learning complex robotic manipulation skills. However, a common architectural mismatch exists in these…
Information Filtering via Variational Regularization for Robot Manipulation
Jinhao Zhang, Wenlong Xia, Yaojia Wang +6
Diffusion-based visuomotor policies built on 3D visual representations have achieved strong performance in learning complex robotic skills. However, most existing methods employ an…
ISS Policy : Scalable Diffusion Policy with Implicit Scene Supervision
Wenlong Xia, Jinhao Zhang, Ce Zhang +6
Vision-based imitation learning has enabled impressive robotic manipulation skills, but action imitation alone provides limited supervision of the geometric consequences of robot b…
LAP: Fast LAtent Diffusion Planner for Autonomous Driving
Jinhao Zhang, Wenlong Xia, Zhexuan Zhou +3
Diffusion models have demonstrated strong capabilities for modeling human-like driving behaviors in autonomous driving, but their iterative sampling process induces substantial lat…
Acetrans: An Autonomous Corridor-Based and Efficient UAV Suspended Transport System
Weiyan Lu, Huizhe Li, Yuhao Fang +5
Unmanned aerial vehicles (UAVs) with suspended payloads offer significant advantages for aerial transportation in complex and cluttered environments. However, existing systems face…
Agile in the Face of Delay: Asynchronous End-to-End Learning for Real-World Aerial Navigation
Yude Li, Zhexuan Zhou, Huizhe Li +2
Robust autonomous navigation for Autonomous Aerial Vehicles (AAVs) in complex environments is a critical capability. However, modern end-to-end navigation faces a key challenge: th…
Nonlinear Model Predictive Control for Leaderless UAV Formation Flying with Collision Avoidance under Directed Graphs
Yiming Wang, Yao Fang, Jie Mei +2
This paper studies the leaderless formation flying problem with collision avoidance for a group of unmanned aerial vehicles (UAVs), which requires the UAVs to navigate through clut…
SEAL: Safety Enhanced Trajectory Planning and Control Framework for Quadrotor Flight in Complex Environments
Yiming Wang, Jianbin Ma, Junda Wu +5
For quadrotors, achieving safe and autonomous flight in complex environments with wind disturbances and dynamic obstacles still faces significant challenges. Most existing methods…
STORM: Spatial-Temporal Iterative Optimization for Reliable Multicopter Trajectory Generation
Jinhao Zhang, Zhexuan Zhou, Wenlong Xia +2
Efficient and safe trajectory planning plays a critical role in the application of quadrotor unmanned aerial vehicles. Currently, the inherent trade-off between constraint complian…