Zobrazeno 1 - 10
of 2 202
pro vyhledávání: '"Nguyen Quan"'
Autor:
Sombolestan, Mohsen, Nguyen, Quan
As legged robots take on roles in industrial and autonomous construction, collaborative loco-manipulation is crucial for handling large and heavy objects that exceed the capabilities of a single robot. However, ensuring the safety of these multi-robo
Externí odkaz:
http://arxiv.org/abs/2411.10699
Autor:
Sombolestan, Mohsen, Nguyen, Quan
As legged robots are deployed in industrial and autonomous construction tasks requiring collaborative manipulation, they must handle object manipulation while maintaining stable locomotion. The challenge intensifies in real-world environments, where
Externí odkaz:
http://arxiv.org/abs/2410.11023
The minimax sample complexity of group distributionally robust optimization (GDRO) has been determined up to a $\log(K)$ factor, for $K$ the number of groups. In this work, we venture beyond the minimax perspective via a novel notion of sparsity that
Externí odkaz:
http://arxiv.org/abs/2410.00690
Loco-manipulation calls for effective whole-body control and contact-rich interactions with the object and the environment. Existing learning-based control frameworks rely on task-specific engineered rewards, training a set of low-level skill policie
Externí odkaz:
http://arxiv.org/abs/2410.01030
Bipedal locomotion control is essential for humanoid robots to navigate complex, human-centric environments. While optimization-based control designs are popular for integrating sophisticated models of humanoid robots, they often require labor-intens
Externí odkaz:
http://arxiv.org/abs/2409.15710
Current humanoid push-recovery strategies often use whole-body motion, yet posture regulation is often overlooked. For instance, during manipulation tasks, the upper body may need to stay upright and have minimal recovery displacement. This paper int
Externí odkaz:
http://arxiv.org/abs/2409.14342
Event cameras capture the motion of intensity gradients (edges) in the image plane in the form of rapid asynchronous events. When accumulated in 2D histograms, these events depict overlays of the edges in motion, consequently obscuring the spatial st
Externí odkaz:
http://arxiv.org/abs/2409.14611
Autor:
Doan, Khang T., Huynh, Bao G., Hoang, Dung T., Pham, Thuc D., Pham, Nhat H., Nguyen, Quan T. M., Vo, Bang Q., Hoang, Suong N.
In this report, we introduce Vintern-1B, a reliable 1-billion-parameters multimodal large language model (MLLM) for Vietnamese language tasks. By integrating the Qwen2-0.5B-Instruct language model with the InternViT-300M-448px visual model, Vintern-1
Externí odkaz:
http://arxiv.org/abs/2408.12480
Achieving precise target jumping with legged robots poses a significant challenge due to the long flight phase and the uncertainties inherent in contact dynamics and hardware. Forcefully attempting these agile motions on hardware could result in seve
Externí odkaz:
http://arxiv.org/abs/2408.02619
Achieving both target accuracy and robustness in dynamic maneuvers with long flight phases, such as high or long jumps, has been a significant challenge for legged robots. To address this challenge, we propose a novel learning-based control approach
Externí odkaz:
http://arxiv.org/abs/2407.14749