Authors

Xinming Zhang

Publications 2

Preprint Open access

EIDA: Execution-Interface Dynamics Adaptation for Real-to-Sim-to-Real Robot Navigation

Yiwei Qian, Shanze Wang, Qingyuan Hu et al. · 2026

Simulation-to-robot transfer can fail when velocity commands produce motion and feedback that differ from those modeled during policy training. We present execution-interface dynamics adaptation (EIDA), which fits these responses from target-platform execution data without reconstructing actuator dynamics. A model of b …

Preprint Open access

Local-Minimum Escaper: Programmatic Subgoal Generation for Robust Navigation in Unknown Environments

Yin Gu, Xinming Zhang, Shanze Wang et al. · 2026

Mapless navigation in unknown and partially observable environments remains challenging for mobile robots, particularly when local minima prevent the robot from making progress toward its goal. Existing local navigation methods often lack an explicit mechanism for escaping such situations, while deep reinforcement lear …

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