Author

Xin-Hang Xu

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Preprint Sep 2026

Whole-Body Aerial Grasping and Lifting via Partial Visual Observations

Aerial grasp-and-lift tasks require whole-body coordination across approach, acquisition, and lifting under partial target observations. Early approach failures can limit exposure to later task stages during training, while changing visibility complicates alignment and closure timing during execution. We present a recu...

Jia-Ye Jin, Rui Jin, Xin-Hang Xu et al. · 0 citations

#artificial intelligence Mar 2026

Learning Energy-Efficient Air-Ground Actuation for Hybrid Robots on Stair-Like Terrain

An energy-aware reinforcement learning framework that jointly commands wheels, tilt servos and propellers through a single continuous policy, without prescribing locomotion modes is presented.

Jia-Xing Li, Ishaan Bhimwal, Wen Tian et al. · arXiv.org · 1 citation

Jul 2026

G2-Nav: Grounded and Guarded Vision-Language Costmaps for Robot Social Navigation

G2-Nav is presented, a novel framework that grounds abstract social reasoning and guards safe real-world deployment in unstructured environments by translating its semantic reasoning into a vision-language costmap with reliability and interpretability.

Yuwen Liao, Yihang Lan, Yizhuo Yang et al. · arXiv.org · 0 citations