4 papers
FUSE: A Framework for Unified State Estimation in Vehicular and Robotic SLAM Systems
Wei Wu, Honglin Chen, Wenhan Cao +7
Tightly coupled SLAM formulations under mixed-rate sensing often bind temporal processing, local geometric association, estimator formulation, and map-update policy into method-spe…
Transferable Latent-to-Latent Locomotion Policy for Efficient and Versatile Motion Control of Diverse Legged Robots
Ziang Zheng, Guojian Zhan, Bin Shuai +4
Reinforcement learning (RL) has demonstrated remarkable capability in acquiring robot skills, but learning each new skill still requires substantial data collection for training. T…
Zeroth-Order Actor-Critic: An Evolutionary Framework for Sequential Decision Problems
Yuheng Lei, Yao Lyu, Guojian Zhan +5
Evolutionary algorithms (EAs) have shown promise in solving sequential decision problems (SDPs) by simplifying them to static optimization problems and searching for the optimal po…
Robust State Estimation for Legged Robots with Dual Beta Kalman Filter
Tianyi Zhang, Wenhan Cao, Chang Liu +3
Existing state estimation algorithms for legged robots that rely on proprioceptive sensors often overlook foot slippage and leg deformation in the physical world, leading to large…