3 papers
cs.RO2026
Mismatch-Aware Adaptive Constraint Tightening for Bicycle-Model Trajectory Optimization
Lingxue Lyu, Zihui Liu
Trajectory optimization for autonomous vehicles usually relies on the kinematic bicycle model because of its computational simplicity. However, when the planned trajectory is execu…
cs.RO2026
On the Emergence of Pendular Structure in Multi-Contact Locomotion
Lingxue Lyu, Zihui Liu
LIPM is everywhere in legged-locomotion control, but almost always as a modeling choice rather than as something the controller's cost actually prefers. This note tries to make tha…
cs.RO2026
AeroBridge-TTA: Test-Time Adaptive Language-Conditioned Control for UAVs
Lingxue Lyu
Language-guided unmanned aerial vehicles (UAVs) often fail not from bad reasoning or perception, but from execution mismatch: the gap between a planned trajectory and the controlle…