9 papers
Finite-Time Curvature-Constrained Vector Field for Saturation-Free Motion Planning of Nonholonomic Robots
Zhouru Xiao, Sha Luo, Yang Lu +5
Accurately steering a robot to a target configuration is fundamental in engineering, yet remains challenging for nonholonomic mobile robots. Vector fields (VFs) provide a natural f…
Simultaneous Arrival Control for Distributed Multi-Robot Systems with Curvature and Constant-Speed Constraints
Zhouru Xiao, Yang Lu, Weijia Yao +2
The simultaneous arrival of multiple mobile robots at a target point is crucial for cooperation tasks such as cooperative encirclement, disaster relief, and environmental monitorin…
SPRINT: Efficient Spectral Priors for Humanoid Athletic Sprints
Yantong Wei, Kaihong Huang, Hainan Pan +6
The pursuit of humanoid athletic sprints is hindered by a scarcity of humanoid-viable kinematic reference data and the inability of existing frameworks to maintain stability during…
CRAFT: Adapting VLA Models to Contact-rich Manipulation via Force-aware Curriculum Fine-tuning
Yike Zhang, Yaonan Wang, Xinxin Sun +6
Vision-Language-Action (VLA) models have shown a strong capability in enabling robots to execute general instructions, yet they struggle with contact-rich manipulation tasks, where…
TRACER: Texture-Robust Affordance Chain-of-Thought for Deformable-Object Region Grounding
Wanjun Jia, Kang Li, Fan Yang +7
The central challenge in robotic manipulation of deformable objects lies in aligning high-level semantic instructions with physical interaction points under complex appearance and…
Noise-Resistant Feature-Aware Attack Detection Using Quantum Machine Learning
Chao Ding, Shi Wang, Jingtao Sun +3
Continuous-variable quantum key distribution (CV-QKD) is a quantum communication technology that offers an unconditional security guarantee. However, the practical deployment of CV…
ImprovDML: Improved Trade-off in Private Byzantine-Resilient Distributed Machine Learning
Bing Liu, Chengcheng Zhao, Li Chai +2
Jointly addressing Byzantine attacks and privacy leakage in distributed machine learning (DML) has become an important issue. A common strategy involves integrating Byzantine-resil…
Efficient Multimodal 3D Object Detector via Instance-Level Contrastive Distillation
Zhuoqun Su, Huimin Lu, Shuaifeng Jiao +3
Multimodal 3D object detectors leverage the strengths of both geometry-aware LiDAR point clouds and semantically rich RGB images to enhance detection performance. However, the inhe…
Vector Field-Guided Learning Predictive Control for Motion Planning of Mobile Robots with Uncertain Dynamics
Yang Lu, Weijia Yao, Yongqian Xiao +4
In obstacle-dense scenarios, providing safe guidance for mobile robots is critical to improve the safe maneuvering capability. However, the guidance provided by standard guiding ve…