14 citations · 15 across the 10 of their papers we have counts for
4 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…