3 papers
cs.RO2026
ACE: Agentic Control for Embodied Manipulation via Zero-shot Workflow Reasoning
Iok Tong Lei, QianZhi Li, Ying Jie Yap +5
General-purpose manipulation requires both semantic reasoning over task constraints and reliable execution of contact-rich actions. We present ACE, an agentic manipulation harness…
eess.SY2025
On Fast Attitude Filtering Using Matrix Fisher Distributions with Stability Guarantee
Shijie Wang, Haichao Gui, Rui Zhong
This paper addresses two interrelated problems of the nonlinear filtering mechanism and fast attitude filtering with the matrix Fisher distribution (MFD) on the special orthogonal…
eess.SY2024
Attitude Estimation via Matrix Fisher Distributions on SO(3) Using Non-Unit Vector Measurements
Shijie Wang, Haichao Gui, Rui Zhong
This note presents a novel Bayesian attitude estimator with the matrix Fisher distribution on the special orthogonal group, which can smoothly accommodate both unit and non-unit ve…