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cs.RO2026
HA-DiPO: Diffusion Policy Optimization for Heterogeneous Cooperative Transport
Xuebin Li, Jinpeng Xiao, Zong Chen +4
Cooperative transport with heterogeneous legged robots requires coordinating different motion capabilities while supporting an unfixed shared payload. We present HA-DiPO (Heterogen…
cs.RO2026
S2M-Trek: From Single to Multi-Sphere Transport via Per-Frame Deep Sets on a Wheel-Legged Robot
Zong Chen, Xuebin Li, Jinpeng Xiao +5
We study the problem of scaling dynamic loco-manipulation from a single free-rolling sphere to multiple spheres transported simultaneously on the back of a wheel-legged quadruped,…