6 papers
SRL-MPC: Shape-Aware Reinforcement Learned Model Predictive Control
Ruihua Han, Rui Gao, Zhe Liu +6
Safe and efficient shape-aware navigation in heterogeneous crowds and robot fleets remains challenging. Traditional approaches often assume homogeneous robots, sparse workspaces, s…
Programming-by-Example for Batch-Editing Collision Meshes in 3D Software
Gengyang Xu, Dongwei Xiao, Hengcheng Zhu +4
As 3D software proliferates, software artifacts now extend beyond code and 2D user interfaces to include 3D assets. Among these assets, collision meshes are critical as they define…
Baichuan-M4: A Clinical-Grade Medical Agent System for Continuous Care
Aiyuan Yang, Canbin Piao, Chengfeng Dou +25
Baichuan-M4 is Baichuan Intelligence's clinical-grade medical large model, designed for continuous care rather than single-turn medical question answering. It is built as a coordin…
IR-SIM: A Lightweight Declarative Simulator for Navigation Learning and Benchmarking
Ruihua Han, Shuai Wang, Chengyang Li +8
Developing navigation policies requires simulation scenarios that support repeatable training and evaluation. Despite the availability of numerous simulators, constructing diverse…
PHYFU: Fuzzing Modern Physics Simulation Engines
Dongwei Xiao, Zhibo Liu, Shuai Wang
A physical simulation engine (PSE) is a software system that simulates physical environments and objects. Modern PSEs feature both forward and backward simulations, where the forwa…
iCOIL: Scenario Aware Autonomous Parking Via Integrated Constrained Optimization and Imitation Learning
Lexiong Huang, Ruihua Han, Guoliang Li +4
Autonomous parking (AP) is an emering technique to navigate an intelligent vehicle to a parking space without any human intervention. Existing AP methods based on mathematical opti…