13 citations · 14 across the 5 of their papers we have counts for
7 papers
Learning Highly Dynamic Skills Transition for Quadruped Jumping Through Constrained Space
Zeren Luo, Jiahui Zhang, Yimin Han +4
Although legged animals are capable of performing explosive motions while traversing confined spaces, replicating this behavior in quadrupedal robots has been a longstanding challe…
Breaking the Static Assumption: A Dynamic-Aware LIO Framework Via Spatio-Temporal Normal Analysis
Chen Zhiqiang, Le Gentil Cedric, Lin Fuling +5
This paper addresses the challenge of Lidar-Inertial Odometry (LIO) in dynamic environments, where conventional methods often fail due to their static-world assumptions. Traditiona…
Like Playing a Video Game: Spatial-Temporal Optimization of Foot Trajectories for Controlled Football Kicking in Bipedal Robots
Wanyue Li, Ji Ma, Minghao Lu +1
Humanoid robot soccer presents several challenges, particularly in maintaining system stability during aggressive kicking motions while achieving precise ball trajectory control. C…
HEPP: Hyper-efficient Perception and Planning for High-speed Obstacle Avoidance of UAVs
Minghao Lu, Xiyu Fan, Bowen Xu +5
High-speed obstacle avoidance of uncrewed aerial vehicles (UAVs) in cluttered environments is a significant challenge. Existing UAV planning and obstacle avoidance systems can only…
Flying in Highly Dynamic Environments with End-to-end Learning Approach
Xiyu Fan, Minghao Lu, Bowen Xu +1
Obstacle avoidance for unmanned aerial vehicles like quadrotors is a popular research topic. Most existing research focuses only on static environments, and obstacle avoidance in e…
FAPP: Fast and Adaptive Perception and Planning for UAVs in Dynamic Cluttered Environments
Minghao Lu, Xiyu Fan, Han Chen +1
Obstacle avoidance for Unmanned Aerial Vehicles (UAVs) in cluttered environments is significantly challenging. Existing obstacle avoidance for UAVs either focuses on fully static e…
Learning Agile Flights through Narrow Gaps with Varying Angles using Onboard Sensing
Yuhan Xie, Minghao Lu, Rui Peng +1
This paper addresses the problem of traversing through unknown, tilted, and narrow gaps for quadrotors using Deep Reinforcement Learning (DRL). Previous learning-based methods reli…