36 citations · 53 across the 9 of their papers we have counts for
11 papers
Whole-Body Aerial Grasping and Lifting via Partial Visual Observations
Jiaye Jin, Rui Jin, Xinhang Xu +6
Aerial grasp-and-lift tasks require whole-body coordination across approach, acquisition, and lifting under partial target observations. Early approach failures can limit exposure…
From Local Whole-Body VLA Behaviors to Scene-Scale Aerial Manipulation
Weixiang Guo, Rui Jin, Haotian Jin +7
Vision-language-action (VLA) models enable task-conditioned interaction, but extending them to scene-scale aerial manipulation remains challenging due to costly whole-body demonstr…
Element-based Formation Control: a Unified Perspective from Continuum Mechanics
Kun Cao, Lihua Xie
This paper establishes a unified element-based framework for formation control by introducing the concept of the deformation gradient from continuum mechanics. Unlike traditional m…
Unsupervised Anomaly Detection for Autonomous Robots via Mahalanobis SVDD with Audio-IMU Fusion
Yizhuo Yang, Jiulin Zhao, Xinhang Xu +3
Reliable anomaly detection is essential for ensuring the safety of autonomous robots, particularly when conventional detection systems based on vision or LiDAR become unreliable in…
UA-MPC: Uncertainty-Aware Model Predictive Control for Motorized LiDAR Odometry
Jianping Li, Xinhang Xu, Jinxin Liu +3
Accurate and comprehensive 3D sensing using LiDAR systems is crucial for various applications in photogrammetry and robotics, including facility inspection, Building Information Mo…
Distance-based Multiple Non-cooperative Ground Target Encirclement for Complex Environments
Fen Liu, Shenghai Yuan, Kun Cao +2
This paper proposes a comprehensive strategy for complex multi-target-multi-drone encirclement in an obstacle-rich and GPS-denied environment, motivated by practical scenarios such…
HelmetPoser: A Helmet-Mounted IMU Dataset for Data-Driven Estimation of Human Head Motion in Diverse Conditions
Jianping Li, Qiutong Leng, Jinxing Liu +7
Helmet-mounted wearable positioning systems are crucial for enhancing safety and facilitating coordination in industrial, construction, and emergency rescue environments. These sys…
A Differential Dynamic Programming Framework for Inverse Reinforcement Learning
Kun Cao, Xinhang Xu, Wanxin Jin +2
A differential dynamic programming (DDP)-based framework for inverse reinforcement learning (IRL) is introduced to recover the parameters in the cost function, system dynamics, and…
HCTO: Optimality-Aware LiDAR Inertial Odometry with Hybrid Continuous Time Optimization for Compact Wearable Mapping System
Jianping Li, Shenghai Yuan, Muqing Cao +3
Compact wearable mapping system (WMS) has gained significant attention due to their convenience in various applications. Specifically, it provides an efficient way to collect prior…
PyPose v0.6: The Imperative Programming Interface for Robotics
Zitong Zhan, Xiangfu Li, Qihang Li +33
PyPose is an open-source library for robot learning. It combines a learning-based approach with physics-based optimization, which enables seamless end-to-end robot learning. It has…
PyPose: A Library for Robot Learning with Physics-based Optimization
Chen Wang, Dasong Gao, Kuan Xu +34
Deep learning has had remarkable success in robotic perception, but its data-centric nature suffers when it comes to generalizing to ever-changing environments. By contrast, physic…