7 accepted papers
Force sensing is a crucial modality for Vision-Language-Action (VLA) frameworks, as it enables fine-grained perception and dexterous manipulation in contact-rich tasks. We present Force-Distilled VLA (FD-VLA), a novel framework that integrates force awareness into contact-rich manipulation without r…
Reliable, drift-free global localization presents significant challenges yet remains crucial for autonomous navigation in large-scale dynamic environments. In this paper, we introduce a tightly-coupled Semantic-LiDAR-Inertial-Wheel Odometry fusion framework, which is specifically designed to provide…
LiDAR-based localization serves as a critical component in autonomous systems, yet existing approaches face persistent challenges in balancing repeatability, accuracy, and environmental adaptability. Traditional point cloud registration methods relying solely on offline maps often exhibit limited ro
Autonomous driving is a high-performance, safety-critical task. Effectively controlling autonomous vehicles to enhance both performance and safety is crucial, especially in complex and dynamic environments. However, in real-time obstacle avoidance (OA) scenarios, the planning layer often fails due t
Controller tuning and optimization have long been recognized as fundamental challenges in robotics and mechatronic systems. Traditional controller design techniques are usually model-based, and their closed-loop performance depends on the fidelity of the mathematical model. Subsequent tuning of the
Data-efficient domain adaptation with only a few labelled data is desired for many robotic applications, e.g., in grasping detection, the inference skill learned from a grasping dataset is not universal enough to directly apply on various other daily/industrial applications. This paper presents an a…
Dynamic control for robotic automation tasks is traditionally designed and optimized with a model-based approach, and the performance relies heavily upon accurate system modeling. However, modeling the true dynamics of increasingly complex robotic systems is an extremely challenging task and it ofte…