Maintaining small path-tracking errors under moving reference frames is essential for robotic manipulation tasks with tight execution tolerances, such as machining and surgical automation. Conventional time-indexed controllers, including tracking Model Predictive Control (MPC), rely on a fixed temporal correspondence w...
Chong Cheng, Tian-Cheng Li, Jon Woolfrey et al.· 0 citations
This framework surveys manipulation, navigation, locomotion, autonomous driving, and general embodied learning, tracing technical progressions, clarifying capability requirements, and examining datasets, benchmarks, and evaluation protocols.
Nan-Jie Yao, Hao Wang, Chong Cheng et al.· 1 citation
This field report presents an OpenArm-based mobile manipulation prototype for laboratory-style tasks, built by integrating dual OpenArm manipulators with a mobile base, vertical slide, RGB-D sensing, lidar-based mapping, ROS2/MoveIt execution, and profile-defined skill interfaces.
Yang Shen, Chong Cheng, Zi-Yi Zhao et al.· 0 citations
HPCLR is a hierarchical part-aware contrastive learning framework for skeleton-based action recognition that leverages the consistency among joint, motion, and bone modalities to select more reliable positive samples, thereby contributing to more stable and informative multi-stream skeleton representations.
Hong-Wei Chen, Min Wei, Yuanyuan Zhu et al.· Journal of Supercomputing· 0 citations
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