2 papers
cs.RO2026
F2F-AP: Flow-to-Future Asynchronous Policy for Real-time Dynamic Manipulation
Haoyu Wei, Xiuwei Xu, Ziyang Cheng +5
Asynchronous inference has emerged as a prevalent paradigm in robotic manipulation, achieving significant progress in ensuring trajectory smoothness and efficiency. However, a syst…
cs.RO2026
CMP: Robust Whole-Body Tracking for Loco-Manipulation via Competence Manifold Projection
Ziyang Cheng, Haoyu Wei, Hang Yin +4
While decoupled control schemes for legged mobile manipulators have shown robustness, learning holistic whole-body control policies for tracking global end-effector poses remains f…