Jun Ma
The Hong Kong University of Science and Technology
収録論文 131本 ・ フィジカルAI/ロボット学習
歩行
※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。
論文
- Tac4Loco: ヒューマノイド歩行のための時空間足底圧表現の学習歩行2026/8/16
ヒューマノイドロボットの歩行制御において、足底圧力の空間的トポロジーを保持した表現を学習し、シミュレーションと実機のセンサ信号を共通の観測空間にマッピングすることで、不整地での適応的な歩行を実現するフレームワークを提案した。
- SSTG-Nav: Metric-Grounded Spatial-Semantic Topological Graphs for Reusable Object Navigation2026/8/1
- Latency-Tolerant Cloud-Edge Collaborative Vision-Language-Action Models via Emergent Representational Specialization2026/8/1
- HiFi-UMI: Learning Deployable Manipulation Policies from High-Fidelity UMI Data Alone2026/7/28
- HiFi-UMI: Learning Deployable Manipulation Policies from High-Fidelity UMI Data Alone2026/7/1
- LeapBot-WA: World-Anchor Action Models via Predictive Latent Alignments2026/7/1
- CoRDE: Concept-Prior Routed Diffusion Experts for Structural Generalization in Robot Manipulation2026/6/1
- GenHOI: Contact-Aware Humanoid-Object Interaction by Imitating Generated Videos without Task-Specific Training2026/6/1
- LAGO Policy: Latency-Aware Asynchronous Diffusion Policies with Goal-Directed Collision-Free Planning for Smooth Manipulation2026/6/1
- FT-WBC: Learning Fault-Tolerant Whole-Body Control for Legged Loco-Manipulation2026/6/1
- Sphere-VIO: Fast and Robust Visual-Inertial Odometry via Unified Spherical Representation for Heterogeneous Multi-Camera Systems2026/6/1
- LUNA-AD: Lightweight Uncertainty-Aware Language Model with Lifelong Learning for Autonomous Driving2026/6/1
- GeoSem-WAM: Geometry- and Semantic-Aware World Action Models2026/6/1
- Bridging Predictive Uncertainty and Safe Action: Sample-Conditioned Differentiable Planning for Autonomous Driving2026/6/1
- Palm-sized Omnidirectional Vision-Based UAV Exploration with Sparse Topological Map Guidance2026/5/1
- AttenA+: Rectifying Action Inequality in Robotic Foundation Models2026/5/1
- Decision-Making with Lightweight Confidence-Aware Language Model for Autonomous Driving2026/5/1
- Closed Loop Dynamic Driving Data Mixture for Real-Synthetic Co-Training2026/5/1
- LiteViLNet: Lightweight Vision-LiDAR Fusion Network for Efficient Road Segmentation2026/5/1
- Learning Terrain-Aware Whole-Body Control for Perceptive Legged Loco-Manipulation2026/5/1
- TacSE3: Equivariant SE(3) Motion Estimation from Low-Texture Visuotactile Images for In-Gripper Tracking and Compensation2026/5/1
- Safe Navigation in Unknown and Cluttered Environments via Direction-Aware Convex Free-Region Generation2026/4/1
- Synergizing Efficiency and Reliability for Continuous Mobile Manipulation2026/4/1
- Structured Observation Language for Efficient and Generalizable Vision-Language Navigation2026/3/1
- Design of an In-Pipe Robot with Contact-Angle-Guided Kinematic Decoupling for Crosstalk-Suppressed Locomotion2026/3/1
- MoE-ACT: Scaling Multi-Task Bimanual Manipulation with Sparse Language-Conditioned Mixture-of-Experts Transformers2026/3/1
- C$^2$-Explorer: Contiguity-Driven Task Allocation with Connectivity-Aware Task Representation for Decentralized Multi-UAV Exploration2026/3/1
- OmniDP: Beyond-FOV Large-Workspace Humanoid Manipulation with Omnidirectional 3D Perception2026/3/1
- SpecFuse: A Spectral-Temporal Fusion Predictive Control Framework for UAV Landing on Oscillating Marine Platforms2026/2/1
- ALORE: Autonomous Large-Object Rearrangement with a Legged Manipulator2026/2/1
- Real-to-Sim for Highly Cluttered Environments via Physics-Consistent Inter-Object Reasoning2026/2/1
- Rethinking the Practicality of Vision-language-action Model: A Comprehensive Benchmark and An Improved Baseline2026/2/1
- Dual-Quadruped Collaborative Transportation in Narrow Environments via Safe Reinforcement Learning2026/2/1
- DualShield: Safe Model Predictive Diffusion via Reachability Analysis for Interactive Autonomous Driving2026/1/1
- Online Trajectory Optimization for Arbitrary-Shaped Mobile Robots via Polynomial Separating Hypersurfaces2026/1/1
- Fast and Safe Trajectory Optimization for Mobile Manipulators With Neural Configuration Space Distance Field2026/1/1
- Enhancing Inverse Perspective Mapping for Automatic Vectorized Road Map Generation2026/1/1
- Vision-Language-Action Models for Autonomous Driving: Past, Present, and Future2025/12/1
- nuPlan-R: A Closed-Loop Planning Benchmark for Autonomous Driving via Reactive Multi-Agent Simulation2025/11/1
- UniGS: Unified Geometry-Aware Gaussian Splatting for Multimodal Rendering2025/10/1
- An Intention-driven Lane Change Framework Considering Heterogeneous Dynamic Cooperation in Mixed-traffic Environment2025/9/1
- ManiVID-3D: Generalizable View-Invariant Reinforcement Learning for Robotic Manipulation via Disentangled 3D Representations2025/9/1
- TopoNav: Topological Graphs as a Key Enabler for Advanced Object Navigation2025/9/1
- Decision-Driven Semantic Object Exploration for Legged Robots via Confidence-Calibrated Perception and Topological Subgoal Selection2025/9/1
- GUIDE: A Diffusion-Based Autonomous Robot Exploration Framework Using Global Graph Inference2025/9/1
- Orchestrate, Generate, Reflect: A VLM-Based Multi-Agent Collaboration Framework for Automated Driving Policy Learning2025/9/1
- CoPlanner: An Interactive Motion Planner with Contingency-Aware Diffusion for Autonomous Driving2025/9/1
- SocialTraj: Two-Stage Socially-Aware Trajectory Prediction for Autonomous Driving via Conditional Diffusion Model2025/9/1
- Semantic-LiDAR-Inertial-Wheel Odometry Fusion for Robust Localization in Large-Scale Dynamic Environments2025/9/1
- DECAMP: Towards Scene-Consistent Multi-Agent Motion Prediction with Disentangled Context-Aware Pre-Training2025/9/1
- Embracing Bulky Objects with Humanoid Robots: Whole-Body Manipulation with Reinforcement Learning2025/9/1
- SEG-Parking: Towards Safe, Efficient, and Generalizable Autonomous Parking via End-to-End Offline Reinforcement Learning2025/9/1
- SAMP: Spatial Anchor-based Motion Policy for Collision-Aware Robotic Manipulators2025/9/1
- MonoGlass3D: Monocular 3D Glass Detection with Plane Regression and Adaptive Feature Fusion2025/9/1
- Safe and Nonconservative Contingency Planning for Autonomous Vehicles via Online Learning-Based Reachable Set Barriers2025/9/1
- LOVON: Legged Open-Vocabulary Object Navigator2025/7/1
- VLM-UDMC: VLM-Enhanced Unified Decision-Making and Motion Control for Urban Autonomous Driving2025/7/1
- Fast and Scalable Game-Theoretic Trajectory Planning with Intentional Uncertainties2025/7/1
- DuLoc: Life-Long Dual-Layer Localization in Changing and Dynamic Expansive Scenarios2025/7/1
- A Reconfigured Wheel-Legged Robot for Enhanced Steering and Adaptability2025/7/1
- PhyBlock: A Progressive Benchmark for Physical Understanding and Planning via 3D Block Assembly2025/6/1
- NetRoller: Interfacing General and Specialized Models for End-to-End Autonomous Driving2025/6/1
- DSDrive: Distilling Large Language Model for Lightweight End-to-End Autonomous Driving with Unified Reasoning and Planning2025/5/1
- LD-Scene: LLM-Guided Diffusion for Controllable Generation of Adversarial Safety-Critical Driving Scenarios2025/5/1
- Safety-Critical Traffic Simulation with Guided Latent Diffusion Model2025/5/1
- FERMI: Flexible Radio Mapping with a Hybrid Propagation Model and Scalable Autonomous Data Collection2025/4/1
- ApexNav: An Adaptive Exploration Strategy for Zero-Shot Object Navigation with Target-centric Semantic Fusion2025/4/1
- RoboDexVLM: Visual Language Model-Enabled Task Planning and Motion Control for Dexterous Robot Manipulation2025/3/1
- PD-VLA: Accelerating Vision-Language-Action Model Integrated with Action Chunking via Parallel Decoding2025/3/1
- Occlusion-Aware Consistent Model Predictive Control for Robot Navigation in Occluded Obstacle-Dense Environments2025/3/1
- Semi-SMD: Semi-Supervised Metric Depth Estimation via Surrounding Cameras for Autonomous Driving2025/3/1
- AKF-LIO: LiDAR-Inertial Odometry with Gaussian Map by Adaptive Kalman Filter2025/3/1
- Interactive Navigation for Legged Manipulators with Learned Arm-Pushing Controller2025/3/1
- Fair Play in the Fast Lane: Integrating Sportsmanship into Autonomous Racing Systems2025/3/1
- Bilevel Multi-Armed Bandit-Based Hierarchical Reinforcement Learning for Interaction-Aware Self-Driving at Unsignalized Intersections2025/2/1
- Occlusion-Aware Contingency Safety-Critical Planning for Autonomous Driving2025/2/1
- On the Surprising Robustness of Sequential Convex Optimization for Contact-Implicit Motion Planning2025/2/1
- LearningFlow: Automated Policy Learning Workflow for Urban Driving with Large Language Models2025/1/1
- CoDriveVLM: VLM-Enhanced Urban Cooperative Dispatching and Motion Planning for Future Autonomous Mobility on Demand Systems2025/1/1
- Local Reactive Control for Mobile Manipulators with Whole-Body Safety in Complex Environments2025/1/1
- UDMC: Unified Decision-Making and Control Framework for Urban Autonomous Driving with Motion Prediction of Traffic Participants2025/1/1
- CALMM-Drive: Confidence-Aware Autonomous Driving with Large Multimodal Model2024/12/1
- Integrating Decision-Making Into Differentiable Optimization Guided Learning for End-to-End Planning of Autonomous Vehicles2024/12/1
- PlanScope: Learning to Plan Within Decision Scope for Urban Autonomous Driving2024/11/1
- Robotic Control Optimization Through Kernel Selection in Safe Bayesian Optimization2024/11/1
- Synergizing Decision Making and Trajectory Planning Using Two-Stage Optimization for Autonomous Vehicles2024/11/1
- GS-LIVM: Real-Time Photo-Realistic LiDAR-Inertial-Visual Mapping with Gaussian Splatting2024/10/1
- FRTree Planner: Robot Navigation in Cluttered and Unknown Environments with Tree of Free Regions2024/10/1
- A Universal Multi-Vehicle Cooperative Decision-Making Approach in Structured Roads by Mixed-Integer Potential Game2024/9/1
- Integrated Decision Making and Trajectory Planning for Autonomous Driving Under Multimodal Uncertainties: A Bayesian Game Approach2024/9/1
- LMMCoDrive: Cooperative Driving with Large Multimodal Model2024/9/1
- FisheyeDepth: A Real Scale Self-Supervised Depth Estimation Model for Fisheye Camera2024/9/1
- Mamba Policy: Towards Efficient 3D Diffusion Policy with Hybrid Selective State Models2024/9/1
- Safe and Real-Time Consistent Planning for Autonomous Vehicles in Partially Observed Environments via Parallel Consensus Optimization2024/9/1
- Integrated Intention Prediction and Decision-Making with Spectrum Attention Net and Proximal Policy Optimization2024/8/1
- SegSTRONG-C: Segmenting Surgical Tools Robustly On Non-adversarial Generated Corruptions -- An EndoVis'24 Challenge2024/7/1
- RiskMap: A Unified Driving Context Representation for Autonomous Motion Planning in Urban Driving Environment2024/6/1
- Enhance Planning with Physics-informed Safety Controller for End-to-end Autonomous Driving2024/5/1
- MCGMapper: Light-Weight Incremental Structure from Motion and Visual Localization With Planar Markers and Camera Groups2024/5/1
- Collision-Free Trajectory Optimization in Cluttered Environments Using Sums-of-Squares Programming2024/4/1
- A Generic Trajectory Planning Method for Constrained All-Wheel-Steering Robots2024/4/1
- Incremental Bayesian Learning for Fail-Operational Control in Autonomous Driving2024/3/1
- Reward-Driven Automated Curriculum Learning for Interaction-Aware Self-Driving at Unsignalized Intersections2024/3/1
- CurbNet: Curb Detection Framework Based on LiDAR Point Cloud Segmentation2024/3/1
- Robot Navigation in Unknown and Cluttered Workspace with Dynamical System Modulation in Starshaped Roadmap2024/3/1
- Arm-Constrained Curriculum Learning for Loco-Manipulation of the Wheel-Legged Robot2024/3/1
- Barrier-Enhanced Parallel Homotopic Trajectory Optimization for Safety-Critical Autonomous Driving2024/2/1
- A Universal Cooperative Decision-Making Framework for Connected Autonomous Vehicles with Generic Road Topologies2024/1/1
- Improved Consensus ADMM for Cooperative Motion Planning of Large-Scale Connected Autonomous Vehicles with Limited Communication2024/1/1
- Geometry-Aware Safety-Critical Local Reactive Controller for Robot Navigation in Unknown and Cluttered Environments2023/10/1
- Real-Time Parallel Trajectory Optimization with Spatiotemporal Safety Constraints for Autonomous Driving in Congested Traffic2023/9/1
- Learning the References of Online Model Predictive Control for Urban Self-Driving2023/8/1
- Spatiotemporal Receding Horizon Control with Proactive Interaction Towards Autonomous Driving in Dense Traffic2023/8/1
- Curriculum Proximal Policy Optimization with Stage-Decaying Clipping for Self-Driving at Unsignalized Intersections2023/8/1
- Integrated Behavior Planning and Motion Control for Autonomous Vehicles with Traffic Rules Compliance2023/4/1
- Chance-Aware Lane Change with High-Level Model Predictive Control Through Curriculum Reinforcement Learning2023/3/1
- Parallel Optimization with Hard Safety Constraints for Cooperative Planning of Connected Autonomous Vehicles2023/3/1
- Decentralized iLQR for Cooperative Trajectory Planning of Connected Autonomous Vehicles via Dual Consensus ADMM2023/1/1
- S3E: A Multi-Robot Multimodal Dataset for Collaborative SLAM2022/10/1
- Learning to Socially Navigate in Pedestrian-rich Environments with Interaction Capacity2022/3/1
- Velocity Obstacle Based Risk-Bounded Motion Planning for Stochastic Multi-Agent Systems2022/2/1
- Crowd-Aware Robot Navigation for Pedestrians with Multiple Collision Avoidance Strategies via Map-based Deep Reinforcement Learning2021/9/1
- Reinforcement Learning for Robot Navigation with Adaptive Forward Simulation Time (AFST) in a Semi-Markov Model2021/8/1
- DRQN-based 3D Obstacle Avoidance with a Limited Field of View2021/8/1
- Generalized Iterative Super-Twisting Sliding Mode Control: A Case Study on Flexure-Joint Dual-Drive H-Gantry Stage2021/3/1
- Receding Horizon Motion Planning for Multi-Agent Systems: A Velocity Obstacle Based Probabilistic Method2021/3/1
- Alternating Direction Method of Multipliers for Constrained Iterative LQR in Autonomous Driving2020/11/1
- Improved Hierarchical ADMM for Nonconvex Cooperative Distributed Model Predictive Control2020/11/1
- Data-Driven Predictive Control Towards Multi-Agent Motion Planning With Non-Parametric Closed-Loop Behavior Learning2020/11/1
- Grasping Detection Network with Uncertainty Estimation for Confidence-Driven Semi-Supervised Domain Adaptation2020/8/1
- Data-Driven Multi-Objective Controller Optimization for a Magnetically-Levitated Nanopositioning System2020/7/1