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cs.RO2025
SPGrasp: Spatiotemporal Prompt-driven Grasp Synthesis in Dynamic Scenes
Yunpeng Mei, Hongjie Cao, Yinqiu Xia +4
Real-time interactive grasp synthesis for dynamic objects remains challenging as existing methods fail to achieve low-latency inference while maintaining promptability. To bridge t…
cs.RO2024
Time-optimal Flight in Cluttered Environments via Safe Reinforcement Learning
Wei Xiao, Zhaohan Feng, Ziyu Zhou +3
This paper addresses the problem of guiding a quadrotor through a predefined sequence of waypoints in cluttered environments, aiming to minimize the flight time while avoiding coll…
cs.RO2024
Learning Hybrid Policies for MPC with Application to Drone Flight in Unknown Dynamic Environments
Zhaohan Feng, Jie Chen, Wei Xiao +3
In recent years, drones have found increased applications in a wide array of real-world tasks. Model predictive control (MPC) has emerged as a practical method for drone flight con…