Author

Lihua Xie

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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

Preprint Sep 2026

Predictive Online Disturbance-Action Control for Linear Dynamical Systems

This paper studies predictive online control for linear dynamical systems with time-varying cost functions, motivated by applications such as real-time adaptive control of motorized LiDAR sensing systems, where the controller must adjust the sensing direction online to balance localization accuracy, scanning efficiency...

Xia Jiang, Jian-Ping Li, Li-Hua Xie · 0 citations

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