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Transition Motion Planning for Multi-Limbed Vertical Climbing Robots Using Complementarity Constraints

Jun 14, 2021
Jingwen Zhang, Xuan Lin, Dennis W Hong

* ICRA 2021 Accepted. Optimization, Climbing motion planning, Complementarity Constraints 

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LTO: Lazy Trajectory Optimization with Graph-Search Planning for High DOF Robots in Cluttered Environments

Mar 23, 2021
Yuki Shirai, Xuan Lin, Ankur Mehta, Dennis Hong

* Accepted for 2021 IEEE International Conference on Robotics and Automation (2021 ICRA). You can find a summary video here: 

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Risk-Aware Motion Planning for a Limbed Robot with Stochastic Gripping Forces Using Nonlinear Programming

Jun 06, 2020
Yuki Shirai, Xuan Lin, Yusuke Tanaka, Ankur Mehta, Dennis Hong

* IEEE Robotics and Automation Letters (RA-L). Pre-print Version. The video of this paper is: 

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DeepGS: Deep Representation Learning of Graphs and Sequences for Drug-Target Binding Affinity Prediction

Apr 03, 2020
Xuan Lin

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Optimization Based Motion Planning for Multi-Limbed Vertical Climbing Robots

Sep 13, 2019
Xuan Lin, Jingwen Zhang, Junjie Shen, Gabriel Fernandez, Dennis W Hong

* IROS 2019 Accepted 

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