14 citations · 15 across the 10 of their papers we have counts for
10 papers · 1 filter
NeuRIO: A Streaming Neural Estimator for Zero-Shot Sim-to-Real Multi-Robot Relative Inertial Odometry
Zhehan Li, Jiadong Lu, Shengwei Ren +2
We present NeuRIO, a streaming neural estimator for anchor-free 6-DoF relative inertial odometry using only identified inter-robot bearings, ranges, and IMU measurements. NeuRIO ca…
Dynamic Whole-Body Dancing with Humanoid Robots -- A Model-Based Control Approach
Shibowen Zhang, Jiayang Wu, Guannan Liu +12
This paper presents an integrated model-based framework for generating and executing dynamic whole-body dance motions on humanoid robots. The framework operates in two stages: offl…
Towards Bridging the Gap between Large-Scale Pretraining and Efficient Finetuning for Humanoid Control
Weidong Huang, Zhehan Li, Hangxin Liu +3
Reinforcement learning (RL) is widely used for humanoid control, with on-policy methods such as Proximal Policy Optimization (PPO) enabling robust training via large-scale parallel…
Parallel Reference-Centric Continuous-Time Relative Localization with Augmented Clamped Non-Uniform B-Splines
Jiadong Lu, Zhehan Li, Tao Han +4
Accurate relative localization is critical for multi-robot cooperation. In robot groups, measurements from different robots arrive asynchronously and with clock time-offsets. Altho…
CREPES-X: Hierarchical Bearing-Distance-Inertial Direct Cooperative Relative Pose Estimation System
Zhehan Li, Zheng Wang, Jiadong Lu +6
Relative localization is essential for cooperation in autonomous multi-robot systems. Existing approaches either rely on shared environmental features or inertial assumptions, or t…
Mr. Virgil: Learning Multi-robot Visual-range Relative Localization
Si Wang, Zhehan Li, Jiadong Lu +3
Ultra-wideband (UWB)-vision fusion localization has achieved extensive applications in the domain of multi-agent relative localization. The challenging matching problem between rob…
M2Diffuser: Diffusion-based Trajectory Optimization for Mobile Manipulation in 3D Scenes
Sixu Yan, Zeyu Zhang, Muzhi Han +7
Recent advances in diffusion models have opened new avenues for research into embodied AI agents and robotics. Despite significant achievements in complex robotic locomotion and sk…
ColAG: A Collaborative Air-Ground Framework for Perception-Limited UGVs' Navigation
Zhehan Li, Rui Mao, Nanhe Chen +3
Perception is necessary for autonomous navigation in an unknown area crowded with obstacles. It's challenging for a robot to navigate safely without any sensors that can sense the…
CoNi-MPC: Cooperative Non-inertial Frame Based Model Predictive Control
Baozhe Zhang, Xinwei Chen, Zhehan Li +4
This paper presents a novel solution for UAV control in cooperative multi-robot systems, which can be used in various scenarios such as leader-following, landing on a moving base,…
CREPES: Cooperative RElative Pose Estimation System
Zhiren Xun, Jian Huang, Zhehan Li +5
Mutual localization plays a crucial role in multi-robot cooperation. CREPES, a novel system that focuses on six degrees of freedom (DOF) relative pose estimation for multi-robot sy…