4 papers
Fast and Safe Trajectory Optimization for Mobile Manipulators With Neural Configuration Space Distance Field
Yulin Li, Zhiyuan Song, Yiming Li +8
Mobile manipulators promise agile, long-horizon behavior by coordinating base and arm motion, yet whole-body trajectory optimization in cluttered, confined spaces remains difficult…
DACA-Net: A Degradation-Aware Conditional Diffusion Network for Underwater Image Enhancement
Chang Huang, Jiahang Cao, Jun Ma +4
Underwater images typically suffer from severe colour distortions, low visibility, and reduced structural clarity due to complex optical effects such as scattering and absorption,…
LOVON: Legged Open-Vocabulary Object Navigator
Daojie Peng, Jiahang Cao, Qiang Zhang +1
Object navigation in open-world environments remains a formidable and pervasive challenge for robotic systems, particularly when it comes to executing long-horizon tasks that requi…
RoboDexVLM: Visual Language Model-Enabled Task Planning and Motion Control for Dexterous Robot Manipulation
Haichao Liu, Sikai Guo, Pengfei Mai +3
This paper introduces RoboDexVLM, an innovative framework for robot task planning and grasp detection tailored for a collaborative manipulator equipped with a dexterous hand. Previ…