6 papers
Hybrid Impedance-Admittance Control with Multi-Link Aerial Robot for Contact-Rich Surface Sliding Task
Zicheng Luo, Maolin Lei, Jinjie Li +3
Multi-link aerial robots can actively deform their articulated structures during flight, giving them strong potential for aerial manipulation. However, they still face substantial…
CoFL-S: Spatially Queryable Sector Flow Fields for Local Language-Conditioned Navigation
Haokun Liu, Zhaoqi Ma, Yicheng Chen +5
Vision-Language Navigation has increasingly emphasized high-level instruction reasoning, memory, global map construction, and instruction decomposition, while the low-level action…
CoFL: Continuous Flow Fields for Language-Conditioned Navigation
Haokun Liu, Zhaoqi Ma, Yicheng Chen +5
Existing language-conditioned navigation systems typically rely on modular pipelines or trajectory generators, but the latter use each scene--instruction annotation mainly to super…
Energy-based Regularization for Learning Residual Dynamics in Neural MPC for Omnidirectional Aerial Robots
Johannes Kübel, Henrik Krauss, Jinjie Li +1
Data-driven Model Predictive Control (MPC) has lately been the core research subject in the field of control theory. The combination of an optimal control framework with deep learn…
Design, Modeling and Direction Control of a Wire-Driven Robotic Fish Based on a 2-DoF Crank-Slider Mechanism
Yita Wang, Chen Chen, Yicheng Chen +5
Robotic fish have attracted growing attention in recent years owing to their biomimetic design and potential applications in environmental monitoring and biological surveys. Among…
The FM Agent
Annan Li, Chufan Wu, Zengle Ge +19
Large language models (LLMs) are catalyzing the development of autonomous AI research agents for scientific and engineering discovery. We present FM Agent, a novel and general-purp…