1 citations · 1 across the 6 of their papers we have counts for
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PccDiffuser: Multi-solution Motion Planning for Continuum Robots
Ke Qiu, Sifan Chen, Si Wang +3
We present the PccDiffuser, a conditional diffusion framework for continuum robots that learns a multimodal distribution over complete configuration-space paths and samples multipl…
Learning Asynchronous Upper-body Task-space Trajectory Tracking Policy for Humanoid Robots
Yumeng Liu, Dongqi Wang, Jiyu Yu +3
High-level humanoid planners often output sparse task-space, low-rate trajectories, whereas whole-body controllers run at high frequency. This creates temporal asynchrony between t…
APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies
Kechun Xu, Zhenjie Zhu, Anzhe Chen +2
Vision-Language-Action (VLA) models that couple pretrained Vision-Language Models (VLMs) with continuous action experts have achieved strong manipulation performance, yet generaliz…
Reference-Augmented Learning for Precise Tracking Policy of Tendon-Driven Continuum Robots
Ziqing Zou, Ke Qiu, Haojian Lu +2
Tendon-Driven Continuum Robots (TDCRs) pose significant control challenges due to their highly nonlinear, path-dependent dynamics and non-Markovian characteristics. Traditional Jac…
Learning-Based Dynamics Modeling and Robust Control for Tendon-Driven Continuum Robots
Ziqing Zou, Ke Qiu, Fei Wang +3
Tendon-Driven Continuum Robots (TDCRs) pose significant modeling and control challenges due to complex nonlinearities, such as frictional hysteresis and transmission compliance. Th…
High-Precision and High-Efficiency Trajectory Tracking for Excavators Based on Closed-Loop Dynamics
Ziqing Zou, Cong Wang, Yue Hu +6
The complex nonlinear dynamics of hydraulic excavators, such as time delays and control coupling, pose significant challenges to achieving high-precision trajectory tracking. Tradi…