Bingjie Chen — accepted AI-conference papers

2025

CushionCatch: A Compliant Catching Mechanism for Mobile Manipulators via Combined Optimization and Learning

Bingjie Chen, Keyu Fan, Qi Yang, Yi Cheng, Houde Liu, Kangkang Dong +3

IROS 2025

Catching flying objects with a cushioning process is a skill commonly performed by humans, yet it remains a significant challenge for robots. In this paper, we present a framework that combines optimization and learning to achieve compliant catching on mobile manipulators (CCMM). First, we propose a

Cited by 1 Source ↗Scholar ↗

2025

KD-RIEKF: Kinodynamic Right-Invariant EKF for Legged Robot State Estimation

Qi Yang, Bin Lan, Bingjie Chen, Jingjing Wang, Yi Cheng, Yizhe Li +2

IROS 2025

We present KD-RIEKF, a novel state estimation framework that incorporates kinodynamic constraints into the Right-Invariant Extended Kalman Filter (RIEKF). Our framework integrates generalized momentum-based contact estimation, centroidal dynamics, and a noise-adaptive module, improving state estimat

Cited by 0 Source ↗Scholar ↗