3 papers indexed
Lingxiao Meng, Bi-Ke Zhu, Xuheng Gao, Zhe Zhang, Jiankun Yang, Jiankun Wang, et al.
Ship-borne manipulators operating in maritime environments are subject to stochastic wave-induced base motions that introduce kinematic disturbances and dynamic coupling, degrading trajectory tracking accuracy and complicating safe, contact-rich manipulation. This paper proposes…
Zhirui Sun, Zhihao Jiang, Yao Wang, Jianwei Peng, Jiankun Wang
In robotic autonomous luggage trolley collection, robots must continuously localize scattered luggage trolleys in cluttered and dynamic environments. This requires the vision system to achieve both high accuracy and real-time performance. However, existing visual perception appro…
Haobo Zhang, Jiankun Wang, Suraj Rajendran, Weishen Pan, Lam Tsoi, Yong Chen, et al.
Federated fine-tuning of large pre-trained models increasingly relies on Low-Rank Adaptation (LoRA) to reduce communication and computation, but heterogeneous clients can make adapter aggregation unstable. We identify the data-parameter interference as a geometric source of this…