4 papers
FutureRay: Control-Aligned Future Range for Agile Quadruped Navigation
Tianhao Zang, Shanze Wang, Ziqian Wang +4
Moving obstacles can block a previously clear route while a quadruped robot executes a motion command. We investigate whether predicting changing clearance improves navigation when…
GAUGE: Planner-Conditioned Active Calibration of Opaque Quadruped Velocity Interfaces
Tianhao Zang, Zihan Liu, Shanze Wang +4
In this paper, we present a Goal-Aware Uncertainty-Guided Exploration (GAUGE) framework for planner-conditioned active calibration of opaque quadruped velocity interfaces. Commerci…
AgniNav: Configuration-Driven Cross-Embodiment Local Planning for Robot Navigation
Tianhao Zang, Siwei Cheng, Haidong Huang +2
Monocular local navigation is attractive for lightweight robots, but existing vision-based policies often couple perception to a specific body, camera height, and footprint, making…
EA4RCA:Efficient AIE accelerator design framework for Regular Communication-Avoiding Algorithm
W. B. Zhang, Y. Q. Liu, T. H. Zang +1
With the introduction of the Adaptive Intelligence Engine (AIE), the Versal Adaptive Compute Acceleration Platform (Versal ACAP) has garnered great attention. However, the current…