4 papers
Impedance Control of Ship-Borne Manipulators via Optimization-based Task-Space Inverse Dynamics
Lingxiao Meng, Bi-Ke Zhu, Xuheng Gao +5
Ship-borne manipulators operating in maritime environments are subject to stochastic wave-induced base motions that introduce kinematic disturbances and dynamic coupling, degrading…
SSI-Policy: Learning Structured Scene Interfaces for Vision-Language Robotic Manipulation
Kaijun Wang, Zikai Ouyang, Xuping Wu +6
Real-world robotic manipulation demands spatial grounding, task-aware reasoning, and precise control. Learning such capabilities becomes particularly challenging in the low-data re…
MinInter: Minimizing Trajectory Interpolation During Data Augmentation for Imitation Learning
Qingyang Wang, Xingang Liu, Changwei Yao +4
Imitation learning enables robots to acquire complex manipulation skills from demonstrations, but its effectiveness is limited by the cost of collecting high-quality data. Trajecto…
Coordinated Defense Allocation in Reach-Avoid Scenarios with Efficient Online Optimization
Junwei Liu, Zikai Ouyang, Jiahui Yang +3
In this paper, we present a dual-layer online optimization strategy for defender robots operating in multiplayer reach-avoid games within general convex environments. Our goal is t…