3 papers
cs.RO2026
IKDiffuser: a Diffusion-based Generative Inverse Kinematics Solver for Kinematic Trees
Zeyu Zhang, Ziyuan Jiao
Solving Inverse Kinematics (IK) for arbitrary kinematic trees presents significant challenges due to their high-dimensionality, redundancy, and complex inter-branch constraints. Co…
cs.RO2025
SuperMag: Vision-based Tactile Data Guided High-resolution Tactile Shape Reconstruction for Magnetic Tactile Sensors
Peiyao Hou, Danning Sun, Meng Wang +5
Magnetic-based tactile sensors (MBTS) combine the advantages of compact design and high-frequency operation but suffer from limited spatial resolution due to their sparse taxel arr…
cs.RO2025
A2I-Calib: An Anti-noise Active Multi-IMU Spatial-temporal Calibration Framework for Legged Robots
Chaoran Xiong, Fangyu Jiang, Kehui Ma +3
Recently, multi-node inertial measurement unit (IMU)-based odometry for legged robots has gained attention due to its cost-effectiveness, power efficiency, and high accuracy. Howev…