Author

Yun-Fan Ren

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Preprint Oct 2026

Learning Wheel Motion Uncertainty for Degeneracy-Aware LiDAR-Inertial Odometry on Quadrupedal Wheel-Legged Robots

Wheel kinematics can support odometry for quadrupedal wheel-legged robots when LiDAR geometry provides weak motion constraints. However, slip and contact loss make rolling predictions unreliable, and contact state alone cannot determine their reliability across motion directions. We propose a tightly coupled LiDAR-iner...

Hai-Ruo Wei, Yun-Fan Ren, Ren-Da Yang et al. · 0 citations

Preprint Oct 2026

Learning Event-based Obstacle Avoidance via Differentiable Simulation

Reliable obstacle avoidance is essential for safe quadrotor flight in unknown environments, yet conventional frame-based cameras remain challenged by motion blur, limited dynamic range, and latency under fast motion. Event cameras, with sub-millisecond latency, high dynamic range, and negligible motion blur, offer a pr...

Chen-Lu Shou, Yun-Fan Ren, Jiaxu Xing et al. · 0 citations

Preprint Oct 2026

State-Dependent Objective Coordination for End-to-End Balance and Navigation

Traditional robotic navigation systems separate mapping, planning, and low-level control through cascaded modules, introducing computational overhead and accumulated latency. End-to-end reinforcement learning offers a compact unified policy that maps onboard observations directly to control actions. However, on inheren...

Xu-Hao Huang, Xi-Tao Xu, Yu-Xin Zheng et al. · 0 citations