5 papers · 1 filter
Primitive-based Truncated Diffusion for Efficient Trajectory Generation of Differential Drive Mobile Manipulators
Long Xu, Choilam Wong, Yuhang Zhong +3
We present a learning-enhanced motion planner for differential drive mobile manipulators to improve efficiency, success rate, and optimality. For task representation encoder, we pr…
TopAY: Efficient Trajectory Planning for Differential Drive Mobile Manipulators via Topological Paths Search and Arc Length-Yaw Parameterization
Long Xu, Choilam Wong, Mengke Zhang +3
Differential drive mobile manipulators combine the mobility of wheeled bases with the manipulation capability of multi-joint arms, enabling versatile applications but posing consid…
SF-TIM: A Simple Framework for Enhancing Quadrupedal Robot Jumping Agility by Combining Terrain Imagination and Measurement
Ze Wang, Yang Li, Long Xu +7
Dynamic jumping on high platforms and over gaps differentiates legged robots from wheeled counterparts. Dynamic locomotion on abrupt surfaces, as opposed to walking on rough terrai…
Learning to Plan Maneuverable and Agile Flight Trajectory with Optimization Embedded Networks
Zhichao Han, Long Xu, Liuao Pei +1
In recent times, an increasing number of researchers have been devoted to utilizing deep neural networks for end-to-end flight navigation. This approach has gained traction due to…
LF-3PM: a LiDAR-based Framework for Perception-aware Planning with Perturbation-induced Metric
Kaixin Chai, Long Xu, Qianhao Wang +3
Just as humans can become disoriented in featureless deserts or thick fogs, not all environments are conducive to the Localization Accuracy and Stability (LAS) of autonomous robots…