Xinyi Xu — Papers on Cortexa

openalexScientific Reports2026-07-25

Adaptive trajectory tracking control for autonomous vehicles based on heading angle deviation

Jiaqing Hao, Yuhan Guo, Yuqiong Wang, Xinyi Xu, Huimin Cai

Precise trajectory tracking holds significant importance for autonomous vehicle navigation. Conventional lateral control strategies are oriented towards eliminating yaw angle deviation. However, this study reveals that such strategies are inadequate under high-speed and high-curv…

View free PDFSource page

arxivcs.ROcs.CV2026-07-23

Scale Up Strategically: Learning Compositional Generalization via Bias-Aware Evaluation and Data Collection for Robotic Manipulation

Yu Qi, Zhang Ye, Xinyi Xu, Yuxuan Lu, Amitoj Sandhu, Boce Hu, et al.

Compositional generalization is essential for robot to follow diverse instructions. However, pretrained policies are known to take shortcuts, deferring to salient cues rather than grounding language. We introduce a diagnostic framework that localizes this failure to individual \t…

View free PDFSource page