Fang Peng — accepted AI-conference papers

2026

AVO-QP: Task-Adaptive Real-Time Obstacle Avoidance for Redundant Manipulators on Edge Platforms

Fang Peng, Yifei Li, Honghui Zhang, Feilong Wang, Wen Qi, Hang Su +1

RA-L 2026

We address real-time obstacle avoidance for redundant manipulators where tracking and safety constraints can conflict and render quadratic programs (QPs) infeasible. We propose AVO-QP, a sensor-guided velocity-level planner that fuses RGB-D depth with learned detection to maintain situational awaren

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2024

OneRef: Unified One-tower Expression Grounding and Segmentation with Mask Referring Modeling

Linhui Xiao, Xiaoshan Yang, Fang Peng, Yaowei Wang, Changsheng Xu

NeurIPS 2024poster

Constrained by the separate encoding of vision and language, existing grounding and referring segmentation works heavily rely on bulky Transformer-based fusion en-/decoders and a variety of early-stage interaction technologies. Simultaneously, the current mask visual language modeling (MVLM) fails t…

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