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cs.RO2026
One-to-Two Acting: A Novel Framework for Single-arm Agent Action Expansion to Dual Arms
Youbin Yao, Nieqin Cao, Mingyan Li +3
Dual-arm manipulation can improve throughput via parallel execution, but collecting bimanual demonstrations for training is costly and difficult. We present ExS2D, a hierarchical a…
cs.RO2025
Heteroscedastic Bayesian Optimization-Based Dynamic PID Tuning for Accurate and Robust UAV Trajectory Tracking
Fuqiang Gu, Jiangshan Ai, Xu Lu +5
Unmanned Aerial Vehicles (UAVs) play an important role in various applications, where precise trajectory tracking is crucial. However, conventional control algorithms for trajector…
cs.RO2024
MoMa-Pos: An Efficient Object-Kinematic-Aware Base Placement Optimization Framework for Mobile Manipulation
Beichen Shao, Nieqing Cao, Yan Ding +3
In this work, we present MoMa-Pos, a framework that optimizes base placement for mobile manipulators, focusing on navigation-manipulation tasks in environments with both rigid and…