2 papers
cs.RO2026
Smoother Action Chunking Flow Policy via Prior-Corrected Orthogonal Trust-Region Guidance
Kai Fang, Hailong Pei, Xuemin Chi
Flow-matching robot policies commonly use action-chunking inference for efficient closed-loop control, but chunk boundaries can introduce discontinuous action transitions. Existing…
cs.RO2025
Dual Preintegration for Relative State Estimation
Ruican Xia, Hailong Pei
Relative State Estimation perform mutually localization between two mobile agents undergoing six-degree-of-freedom motion. Based on the principle of circular motion, the estimation…