Jialiang Hou

Yuan Zhou, Guangtong Xu, Zhenyu Hou et al.

Traditional large-scale formation planning either oversimplify the formation representation which leads to poor performance, or they employ complete collaborative relationships, which results in excessive computational load. To achieve high-performance and large-scale formation planning, we transform the Optimal Formation Position Sequence \cite{c1} (OFPS) calculation problem into a spatiotemporal Point Cloud Registration (PCR) problem. Each agent derives its OFPS by distributively computing the matching result between current positions and the desired formation positions of all other agents. Then each agent optimizes the cooperative formation trajectory by using OFPS. We leverage the PCR method with outlier rejection to rapidly perform large-scale formation position registration. This prevents suboptimal trajectories and failed agents from propagating through the cooperative network and affecting more agents. Consequently, we uniformly achieve resilient, efficient, and distributed trajectory planning for large-scale swarms. The effectiveness and the superiority of the proposed method are demonstrated through large-scale simulations of 120-drone formation, and rigorous benchmarking against state-of-the-art (SOTA) methods.

Long Xu, Choilam Wong, Yuhang Zhong et al.

We present a learning-enhanced motion planner for differential drive mobile manipulators to improve efficiency, success rate, and optimality. For task representation encoder, we propose a keypoint sequence extraction module that maps boundary states to 3D space via differentiable forward kinematics. Point clouds and keypoints are encoded separately and fused with attention, enabling effective integration of environment and boundary states information. We also propose a primitive-based truncated diffusion model that samples from a biased distribution. Compared with vanilla diffusion model, this framework improves the efficiency and diversity of the solution. Denoised paths are refined by trajectory optimization to ensure dynamic feasibility and task-specific optimality. In cluttered 3D simulations, our method achieves higher success rate, improved trajectory diversity, and competitive runtime compared to vanilla diffusion and classical baselines. The source code is released at https://github.com/nmoma/nmoma .

Xinying Weng, Yifan Li, Shuaidong Hao et al.

This project proposes a new method that uses fuzzy comprehensive evaluation method to integrate ResNet-50 self-supervised and RepVGG supervised learning. The source image dataset HWOBC oracle is taken as input, the target image is selected, and finally the most similar image is output in turn without any manual intervention. The same feature encoding method is not used for images of different modalities. Before the model training, the image data is preprocessed, and the image is enhanced by random rotation processing, self-square graph equalization theory algorithm, and gamma transform, which effectively enhances the key feature learning. Finally, the fuzzy comprehensive evaluation method is used to combine the results of supervised training and unsupervised training, which can better solve the "most similar" problem that is difficult to quantify. At present, there are many unknown oracle-bone inscriptions waiting for us to crack. Contacting with the glyphs can provide new ideas for cracking.