4 papers
MASkillBlender: Decentralized Whole-Body Coordination for Multi-Humanoid Loco-Manipulation via Skill Blending
Yifan Hu, Luhang Hong, Mingkang Long +5
Coordinated multi-humanoid loco-manipulation is promising yet challenging due to high-dimensional whole-body control, decentralized decision making, and scalability. While recent r…
Predict Before You Step: Auditable Occupancy Forecasting for Dynamic Obstacle Avoidance under Sparse Guidance
Yuhui Mao, Fen Liu, Shenghai Yuan +3
Legged robots under sparse waypoint guidance must avoid moving obstacles using partial, rapidly changing LiDAR observations. We present LOOP (Latent-recurrent Occupancy rollOut Pol…
Autonomous 3D Moving Target Encirclement and Interception with Range measurement
Fen Liu, Shenghai Yuan, Thien-Minh Nguyen +1
Commercial UAVs are an emerging security threat as they are capable of carrying hazardous payloads or disrupting air traffic. To counter UAVs, we introduce an autonomous 3D target…
Underwater target 6D State Estimation via UUV Attitude Enhance Observability
Fen Liu, Chengfeng Jia, Na Zhang +2
Accurate relative state observation of Unmanned Underwater Vehicles (UUVs) for tracking uncooperative targets remains a significant challenge due to the absence of GPS, complex und…