Xiaoqi Chen — accepted AI-conference papers

2025

MIVG: Mode-Isolated Velocity-Guide Algorithm for Quadratic Optimization-Based Obstacle Avoidance

Hangyu Lin, Xiaoqi Chen, Songyin Cai, Xiangrui Lin, Kunpeng Wu

IROS 2025

Dynamic obstacle avoidance is a challenging problem in robotic control, with many algorithms developed to balance efficiency and real-time performance. Existing resolved-rate motion control (RRMC) methods formulate obstacle avoidance as a quadratic programming (QP) problem. However, the lack of dire

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2024

Dual-Critic Deep Reinforcement Learning for Push-Grasping Synergy in Cluttered Environment

Jiakang Zhong, Yew Wee Wong, Jiong Jin, Yong Song, Xianfeng Yuan, Xiaoqi Chen

ICRA 2024poster

Robotic push-grasping in densely cluttered environments presents significant challenges due to unbalanced synergy and redundancy between both actions, leading to decreased grasp efficiency. In this paper, a novel double-critic deep reinforcement learning framework is introduced to optimize the push-…

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