6 papers
Continuous Ground-Truth Construction and a Recovery Policy for Air--Water Robotic Tracking
Jiangong Xiao, Zhe Sun, Kanzhong Yao +5
Visual tracking across the air-water interface is challenged by splashes, bubbles, refraction, reflections, and abrupt appearance changes that can temporarily invalidate observatio…
Towards Reliable Underwater Diver-Robot Interaction: Gesture Design, Interaction Logic, and Real-World Evaluation
Yingqi Liu, Kanzhong Yao, Zimeng Peng +4
Underwater human--robot interaction requires gesture commands that are both easy for divers to use and reliable for robots to recognize. We investigate these aspects through a clos…
Odometry-Aided Real-Time Mapping for Underwater Robots Using Forward-Looking Sonar
Siyuan Du, Kanzhong Yao, Youdong Wang +5
Reliable perception is essential for underwater vehicles operating in complex environments, where light attenuation and scattering often degrade visibility and compromise optical s…
AquaOrbit: Sim-to-Real Reinforcement Learning for Underwater Target Orbiting under Intermittent Visual Feedback
Kanzhong Yao, Jinyi Leng, Hao Zhang +2
Intermittent visual loss disrupts target-relative feedback during underwater orbiting, making it difficult to maintain coordinated motion and reacquire a moving target. We present…
GUIDE: Goal-Initialized Directional Understanding for End-to-End Legged Navigation
Liang Wang, Jin Jin, KanZhong Yao +6
End-to-end reinforcement learning (RL) has shown strong potential for legged robot navigation, yet existing approaches commonly rely on continuously updated robot-to-goal states fr…
PUMA: Perception-driven Unified Foothold Prior for Mobility Augmented Quadruped Parkour
Liang Wang, Kanzhong Yao, Yang Liu +4
Parkour tasks for quadrupeds have emerged as a promising benchmark for agile locomotion. While human athletes can effectively perceive environmental characteristics to select appro…