3 papers
cs.RO2026
Attitude-Aided Linear Calibration of Triaxial Accelerometers
Yongqiang Yu, Tian Huang, Yipeng Yang
Triaxial MEMS accelerometers are widely used for inertial sensing, navigation, and sensor fusion, but existing calibration methods often rely on costly reference setups or nonlinea…
cs.RO2026
Preserving Full 6-DOF Actuation Under Abrupt Total Rotor Failures: Passive Fault-Tolerant Flight Control Using a Biaxial-Tilt Hexacopter
Yipeng Yang, Yiqiao Tang, Hao Zhang +6
Conventional multirotors suffer from a rapid collapse of attainable wrench space (AWS) under abrupt total rotor failures, rendering full 6-DOF recovery physically impossible. This…
cs.LG2026
Truncated Rectified Flow Policy for Reinforcement Learning with One-Step Sampling
Xubin Zhou, Yipeng Yang, Zhan Li
Maximum entropy reinforcement learning (MaxEnt RL) has become a standard framework for sequential decision making, yet its standard Gaussian policy parameterization is inherently u…