107 citations · 472 across the 89 of their papers we have counts for
15 papers · 2 filters
NGEL-SLAM: Neural Implicit Representation-based Global Consistent Low-Latency SLAM System
Yunxuan Mao, Xuan Yu, Kai Wang +3
Neural implicit representations have emerged as a promising solution for providing dense geometry in Simultaneous Localization and Mapping (SLAM). However, existing methods in this…
CNS: Correspondence Encoded Neural Image Servo Policy
Anzhe Chen, Hongxiang Yu, Yue Wang +1
Image servo is an indispensable technique in robotic applications that helps to achieve high precision positioning. The intermediate representation of image servo policy is importa…
3D Model-free Visual Localization System from Essential Matrix under Local Planar Motion
Yanmei Jiao, Binxin Zhang, Peng Jiang +3
Visual localization plays a critical role in the functionality of low-cost autonomous mobile robots. Current state-of-the-art approaches for achieving accurate visual localization…
Sparse Waypoint Validity Checking for Self-Entanglement-Free Tethered Path Planning
Tong Yang, Jiangpin Liu, Yue Wang +1
A novel mechanism to derive self-entanglement-free (SEF) path for tethered differential-driven robots is proposed in this work. The problem is tailored to the deployment of tethere…
An Efficient Multi-solution Solver for the Inverse Kinematics of 3-Section Constant-Curvature Robots
Ke Qiu, Jingyu Zhang, Danying Sun +3
Piecewise constant curvature is a popular kinematics framework for continuum robots. Computing the model parameters from the desired end pose, known as the inverse kinematics probl…
Learning adaptive manipulation of objects with revolute joint: A case study on varied cabinet doors opening
Hongxiang Yu, Dashun Guo, Zhongxiang Zhou +2
This paper introduces a learning-based framework for robot adaptive manipulating the object with a revolute joint in unstructured environments. We concentrate our discussion on var…
Zero-shot Transfer Learning of Driving Policy via Socially Adversarial Traffic Flow
Dongkun Zhang, Jintao Xue, Yuxiang Cui +6
Acquiring driving policies that can transfer to unseen environments is challenging when driving in dense traffic flows. The design of traffic flow is essential and previous studies…
A Hyper-network Based End-to-end Visual Servoing with Arbitrary Desired Poses
Hongxiang Yu, Anzhe Chen, Kechun Xu +4
Recently, several works achieve end-to-end visual servoing (VS) for robotic manipulation by replacing traditional controller with differentiable neural networks, but lose the abili…
Object-centric Inference for Language Conditioned Placement: A Foundation Model based Approach
Zhixuan Xu, Kechun Xu, Yue Wang +1
We focus on the task of language-conditioned object placement, in which a robot should generate placements that satisfy all the spatial relational constraints in language instructi…
NF-Atlas: Multi-Volume Neural Feature Fields for Large Scale LiDAR Mapping
Xuan Yu, Yili Liu, Sitong Mao +4
LiDAR Mapping has been a long-standing problem in robotics. Recent progress in neural implicit representation has brought new opportunities to robotic mapping. In this paper, we pr…
DAMS-LIO: A Degeneration-Aware and Modular Sensor-Fusion LiDAR-inertial Odometry
Fuzhang Han, Han Zheng, Wenjun Huang +3
With robots being deployed in increasingly complex environments like underground mines and planetary surfaces, the multi-sensor fusion method has gained more and more attention whi…
Failure-aware Policy Learning for Self-assessable Robotics Tasks
Kechun Xu, Runjian Chen, Shuqi Zhao +5
Self-assessment rules play an essential role in safe and effective real-world robotic applications, which verify the feasibility of the selected action before actual execution. But…
A Joint Modeling of Vision-Language-Action for Target-oriented Grasping in Clutter
Kechun Xu, Shuqi Zhao, Zhongxiang Zhou +4
We focus on the task of language-conditioned grasping in clutter, in which a robot is supposed to grasp the target object based on a language instruction. Previous works separately…
A Survey on Global LiDAR Localization: Challenges, Advances and Open Problems
Huan Yin, Xuecheng Xu, Sha Lu +5
Knowledge about the own pose is key for all mobile robot applications. Thus pose estimation is part of the core functionalities of mobile robots. Over the last two decades, LiDAR s…
EMV-LIO: An Efficient Multiple Vision aided LiDAR-Inertial Odometry
Bingqi Shen, Yuyin Chen, Fuzhang Han +3
To deal with the degeneration caused by the incomplete constraints of single sensor, multi-sensor fusion strategies especially in LiDAR-vision-inertial fusion area have attracted m…