3 papers
cs.RO2026
Manifold Generative Annealing for Contact Constraint-aware Impedance Control with Reinforcement Learning Prior
Zhilin He, Guoquan Qi, Changliu Liu
Contact-rich robotic tasks require coordinated motion and impedance under uncertain interaction dynamics and physical constraints. While recent methods on learned policies provide…
cs.RO2026
Motion Planning with Model-Based Diffusion via Constraint Optimization and Adaptive Scheduling
Zhilin He, Bowei Li, Jianlin Dou +2
Single-Robot Motion Planning (SRMP) in highly non-convex constrained environments, where robots must satisfy collision-free guarantees, dynamic feasibility, and task-related constr…
cs.RO2026
Model-Based Diffusion Optimal Control for Multi-Robot Motion Planning
Zhilin He, Yorai Shaoul, Jiaoyang Li
Multi-Robot Motion Planning in continuous environments, where robots must generate dynamically feasible, collision-free trajectories, is challenging due to the combinatorial growth…