3 papers
cs.RO2025
ATRos: Learning Energy-Efficient Agile Locomotion for Wheeled-legged Robots
Jingyuan Sun, Hongyu Ji, Zihan Qu +2
Hybrid locomotion of wheeled-legged robots has recently attracted increasing attention due to their advantages of combining the agility of legged locomotion and the efficiency of w…
cs.RO2025
LLM-HBT: Dynamic Behavior Tree Construction for Adaptive Coordination in Heterogeneous Robots
Chaoran Wang, Jingyuan Sun, Yanhui Zhang +2
We introduce a novel framework for automatic behavior tree (BT) construction in heterogeneous multi-robot systems, designed to address the challenges of adaptability and robustness…
cs.RO2025
HANDO: Hierarchical Autonomous Navigation and Dexterous Omni-loco-manipulation
Jingyuan Sun, Chaoran Wang, Mingyu Zhang +6
Seamless loco-manipulation in unstructured environments requires robots to leverage autonomous exploration alongside whole-body control for physical interaction. In this work, we i…