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Zhenshan Bing

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affiliation: Technical University of Munich, Department of Computer Science, Germany
affiliation: Harbin Institute of Technology, State Key Lab of Robot Technology and System, China

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Books and Theses

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2019
[b1]
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Zhenshan Bing:
Biological-inspired Hierarchical Control of a Snake-like Robot for Autonomous Locomotion (Biologisch inspirierte hierarchische Kontrolle eines schlangenähnlichen Roboters zur autonomen Fortbewegung). Technical University of Munich, Germany, 2019

Journal Articles

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2024
[j27]
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Tao Jiang, Xiaojie Su, Jiangshuai Huang, Zhenshan Bing, Alois Knoll:
Performance-Driven Safe Bayesian Optimization for Intelligent Tuning of High-Order Cascade Systems. IEEE Trans. Artif. Intell. 5(2): 801-813 (2024)
[j26]
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Chunting Jiao, Lin Zhang, Xiaojie Su, Jiangshuai Huang, Zhenshan Bing, Alois Knoll:
Task-Based Compliance Control for Bottle Screw Manipulation With a Dual-Arm Robot. IEEE Trans. Ind. Electron. 71(2): 1823-1831 (2024)
[j25]
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Xiaojie Su, Shimin Liu, Rui Li, Zhenshan Bing, Alois Knoll:
Efficient Stereo Matching Using Swin Transformer and Multilevel Feature Consistency in Autonomous Mobile Systems. IEEE Trans. Ind. Informatics 20(5): 7957-7965 (2024)
2023
[j24]
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Mingyang Cui, Yingbai Hu, Shaobing Xu, Jianqiang Wang, Zhenshan Bing, Boqi Li, Alois Knoll:
Safe and Human-Like Trajectory Planning of Self-Driving Cars: A Constraint Imitative Method. Adv. Intell. Syst. 5(10) (2023)
[j23]
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Zhenshan Bing, Chenguang Yang, Alois Knoll:
Editorial: Neuromorphic engineering for robotics. Frontiers Neurorobotics 17 (2023)
[j22]
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Zhenshan Bing, David Lerch, Kai Huang, Alois C. Knoll:
Meta-Reinforcement Learning in Non-Stationary and Dynamic Environments. IEEE Trans. Pattern Anal. Mach. Intell. 45(3): 3476-3491 (2023)
[j21]
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Zhenshan Bing, Alex Rohregger, Florian Walter, Yuhong Huang, Peer Lucas, Fabrice O. Morin, Kai Huang, Alois Knoll:
Lateral flexion of a compliant spine improves motor performance in a bioinspired mouse robot. Sci. Robotics 8(85) (2023)
[j20]
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Yaoyao Tan, Xiaojie Su, Zhenshan Bing, Xiaokui Yang, Alois C. Knoll:
Reduced Model-Based Fault Detector and Controller Design for Discrete-Time Switching Fuzzy Systems. IEEE Trans. Fuzzy Syst. 31(2): 669-681 (2023)
[j19]
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Zhenshan Bing, Hongkuan Zhou, Rui Li, Xiaojie Su, Fabrice O. Morin, Kai Huang, Alois C. Knoll:
Solving Robotic Manipulation With Sparse Reward Reinforcement Learning Via Graph-Based Diversity and Proximity. IEEE Trans. Ind. Electron. 70(3): 2759-2769 (2023)
[j18]
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Genghang Zhuang, Zhenshan Bing, Xiangtong Yao, Yuhong Huang, Kai Huang, Alois Knoll:
Toward Intelligent Sensing: Optimizing Lidar Beam Distribution for Autonomous Driving. IEEE Trans. Intell. Transp. Syst. 24(8): 8386-8392 (2023)
[j17]
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Zhenshan Bing, Erick Álvarez, Long Cheng, Fabrice O. Morin, Rui Li, Xiaojie Su, Kai Huang, Alois Knoll:
Robotic Manipulation in Dynamic Scenarios via Bounding-Box-Based Hindsight Goal Generation. IEEE Trans. Neural Networks Learn. Syst. 34(8): 5037-5050 (2023)
[j16]
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Xiaojie Su, Qianqian Chen, Shaoxin Sun, Zhenshan Bing, Alois Knoll:
Output Feedback Control of Fuzzy Systems via Reduced-Order Approximation Technique. IEEE Trans. Syst. Man Cybern. Syst. 53(9): 5466-5477 (2023)
2022
[j15]
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Zhenshan Bing, Fei Chen, Rui Li, Junpei Zhong, Qiang Li:
Editorial: Biological-Inspired Autonomous Mobile Manipulation: Challenges in Design, Control, and Real-World Applications. Frontiers Neurorobotics 16 (2022)
[j14]
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Zhenshan Bing, Long Cheng, Kai Huang, Alois C. Knoll:
Simulation to Real: Learning Energy-Efficient Slithering Gaits for a Snake-Like Robot. IEEE Robotics Autom. Mag. 29(4): 92-103 (2022)
[j13]
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Zhenshan Bing, Amir E. I. Sewisy, Genghang Zhuang, Florian Walter, Fabrice O. Morin, Kai Huang, Alois C. Knoll:
Toward Cognitive Navigation: Design and Implementation of a Biologically Inspired Head Direction Cell Network. IEEE Trans. Neural Networks Learn. Syst. 33(5): 2147-2158 (2022)
[j12]
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Zhenshan Bing, Matthias Brucker, Fabrice O. Morin, Rui Li, Xiaojie Su, Kai Huang, Alois C. Knoll:
Complex Robotic Manipulation via Graph-Based Hindsight Goal Generation. IEEE Trans. Neural Networks Learn. Syst. 33(12): 7863-7876 (2022)
2021
[j11]
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Javier Lopez-Randulfe, Tobias Duswald, Zhenshan Bing, Alois C. Knoll:
Spiking Neural Network for Fourier Transform and Object Detection for Automotive Radar. Frontiers Neurorobotics 15: 688344 (2021)
2020
[j10]
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Zhenshan Bing, Christian Lemke, Fabrice O. Morin, Zhuangyi Jiang, Long Cheng, Kai Huang, Alois C. Knoll:
Perception-Action Coupling Target Tracking Control for a Snake Robot via Reinforcement Learning. Frontiers Neurorobotics 14: 591128 (2020)
[j9]
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Zhenshan Bing, Claus Meschede, Guang Chen, Alois C. Knoll, Kai Huang:
Indirect and direct training of spiking neural networks for end-to-end control of a lane-keeping vehicle. Neural Networks 121: 21-36 (2020)
[j8]
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Zhenshan Bing, Christian Lemke, Long Cheng, Kai Huang, Alois C. Knoll:
Energy-efficient and damage-recovery slithering gait design for a snake-like robot based on reinforcement learning and inverse reinforcement learning. Neural Networks 129: 323-333 (2020)
2019
[j7]
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Long Cheng, Kai Huang, Gang Chen, Zhenshan Bing, Alois C. Knoll:
Adaptive Periodic Thermal Management for Pipelined Hard Real-Time Systems. IEEE Access 7: 114731-114746 (2019)
[j6]
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Zhenshan Bing, Ivan Baumann, Zhuangyi Jiang, Kai Huang, Caixia Cai, Alois C. Knoll:
Supervised Learning in SNN via Reward-Modulated Spike-Timing-Dependent Plasticity for a Target Reaching Vehicle. Frontiers Neurorobotics 13: 18 (2019)
[j5]
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Zhuangyi Jiang, Zhenshan Bing, Kai Huang, Alois C. Knoll:
Retina-Based Pipe-Like Object Tracking Implemented Through Spiking Neural Network on a Snake Robot. Frontiers Neurorobotics 13: 29 (2019)
[j4]
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Shu Miao, Guang Chen, Xiangyu Ning, Yang Zi, Kejia Ren, Zhenshan Bing, Alois C. Knoll:
Neuromorphic Vision Datasets for Pedestrian Detection, Action Recognition, and Fall Detection. Frontiers Neurorobotics 13: 38 (2019)
[j3]
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Mingchuan Zhou, Long Cheng, Manuel Dell'antonio, Xiebing Wang, Zhenshan Bing, M. Ali Nasseri, Kai Huang, Alois C. Knoll:
Peak Temperature Minimization for Hard Real-Time Systems Using DVS and DPM. J. Circuits Syst. Comput. 28(6): 1950102:1-1950102:20 (2019)
[j2]
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Guang Chen, Zhenshan Bing, Florian Röhrbein, Jörg Conradt, Kai Huang, Long Cheng, Zhuangyi Jiang, Alois C. Knoll:
Toward Brain-Inspired Learning With the Neuromorphic Snake-Like Robot and the Neurorobotic Platform. IEEE Trans. Cogn. Dev. Syst. 11(1): 1-12 (2019)
2018
[j1]
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Zhenshan Bing, Claus Meschede, Florian Röhrbein, Kai Huang, Alois C. Knoll:
A Survey of Robotics Control Based on Learning-Inspired Spiking Neural Networks. Frontiers Neurorobotics 12: 35 (2018)

Conference and Workshop Papers

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2024
[c32]
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Francesco Stella, Guanran Pei, Omar Meebed, Qinghua Guan, Zhenshan Bing, Cosimo Della Santina, Josie Hughes:
Toward Long-Lasting Large-Scale Soft Robots: The Durability Challenge in Architectured Materials. RoboSoft 2024: 190-196
2023
[c31]
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  - conf/aaai/WangBYW00YK23
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Mingyang Wang, Zhenshan Bing, Xiangtong Yao, Shuai Wang, Kai Huang, Hang Su, Chenguang Yang, Alois Knoll:
Meta-Reinforcement Learning Based on Self-Supervised Task Representation Learning. AAAI 2023: 10157-10165
[c30]
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Chenxing Li, Yinlong Liu, Zhenshan Bing, Fabian Schreier, Jan Seyler, Shahram Eivazi:
Accelerate Training of Reinforcement Learning Agent by Utilization of Current and Previous Experience. ICAART (3) 2023: 698-705
[c29]
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Yuning Cui, Yi Tao, Zhenshan Bing, Wenqi Ren, Xinwei Gao, Xiaochun Cao, Kai Huang, Alois Knoll:
Selective Frequency Network for Image Restoration. ICLR 2023
[c28]
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Chenxing Li, Yansong Wu, Yinlong Liu, Fabian Schreier, Zhenshan Bing, Alois C. Knoll, Shahram Eivazi:
Human Robot Interaction with Triboelectric Nanogenerator for Tactile Sensing. ICMRE 2023: 30-34
[c27]
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Zhenshan Bing, Alexander W. Koch, Xiangtong Yao, Kai Huang, Alois Knoll:
Meta-Reinforcement Learning via Language Instructions. ICRA 2023: 5985-5991
[c26]
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Kejia Chen, Zhenshan Bing, Fan Wu, Yuan Meng, André Kraft, Sami Haddadin, Alois Knoll:
Contact-Aware Shaping and Maintenance of Deformable Linear Objects With Fixtures. IROS 2023: 1-8
[c25]
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Yuhong Huang, Zhenshan Bing, Zitao Zhang, Kai Huang, Fabrice O. Morin, Alois Knoll:
Smooth Stride Length Change of Rat Robot with a Compliant Actuated Spine Based on CPG Controller. IROS 2023: 331-338
[c24]
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Genghang Zhuang, Zhenshan Bing, Zhen Zhou, Xiangtong Yao, Yuhong Huang, Kai Huang, Alois Knoll:
An Energy-Efficient Lane-Keeping System Using 3D LiDAR Based on Spiking Neural Network. IROS 2023: 4763-4769
[c23]
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Xiangtong Yao, Zhenshan Bing, Genghang Zhuang, Kejia Chen, Hongkuan Zhou, Kai Huang, Alois Knoll:
Learning from Symmetry: Meta-Reinforcement Learning with Symmetrical Behaviors and Language Instructions. IROS 2023: 5574-5581
[c22]
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Rui Dai, Wenjun Liu, Zhenshan Bing, Alois Knoll:
Variable Weight Model Predictive Contour Control for Autonomous Tracking Based on Reinforcement Learning and Nonlinear Disturbance Observer. ITSC 2023: 1563-1569
[c21]
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Genghang Zhuang, Zhenshan Bing, Kai Huang, Alois Knoll:
Toward Neuromorphic Perception: Spike-driven Lane Segmentation for Autonomous Driving using LiDAR Sensor. ITSC 2023: 2448-2453
[c20]
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Zitao Zhang, Yuhong Huang, Zijian Zhao, Zhenshan Bing, Alois Knoll, Kai Huang:
A Hierarchical Reinforcement Learning Approach for Adaptive Quadruped Locomotion of a Rat Robot. ROBIO 2023: 1-6
2022
[c19]
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Tinghe Hong, Zitao Zhang, Jianping Huang, Long Cheng, Zhenshan Bing, Kai Huang:
Adaptive Control for a 3D Snake-Like Robot Based on Mutual Supervised Reinforcement Learning. ICARM 2022: 144-150
[c18]
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Yuhong Huang, Zhenshan Bing, Florian Walter, Alex Rohregger, Zitao Zhang, Kai Huang, Fabrice O. Morin, Alois C. Knoll:
Enhanced Quadruped Locomotion of a Rat Robot Based on the Lateral Flexion of a Soft Actuated Spine. IROS 2022: 2622-2627
[c17]
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Jingfan Zhang, Shuai Wang, Haitao Wang, Jie Lai, Zhenshan Bing, Yu Jiang, Yu Zheng, Zhengyou Zhang:
An Adaptive Approach to Whole-Body Balance Control of Wheel-Bipedal Robot Ollie. IROS 2022: 12835-12842
[c16]
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Genghang Zhuang, Zhenshan Bing, Yuhong Huang, Kai Huang, Alois C. Knoll:
A Biologically-Inspired Simultaneous Localization and Mapping System Based on LiDAR Sensor. IROS 2022: 13136-13142
[c15]
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Genghang Zhuang, Carlo Cagnetta, Zhenshan Bing, Hu Cao, Xinyi Li, Kai Huang, Alois C. Knoll:
A Biologically-Inspired Global Localization System for Mobile Robots Using LiDAR Sensor. IV 2022: 984-990
[c14]
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Lian Liu, Liguo Zhou, Zhenshan Bing, Ruining Wang, Alois Knoll:
Real-time Semantic Segmentation in Traffic Scene based on Cross Stage Partial Block. SmartWorld/UIC/ScalCom/DigitalTwin/PriComp/Meta 2022: 235-241
2021
[c13]
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Chenxing Li, Yinlong Liu, Zhenshan Bing, Jan Seyler, Shahram Eivazi:
A Novel Reinforcement Learning Sampling Method Without Additional Environment Feedback in Hindsight Experience Replay. RiTA 2021: 462-473
2020
[c12]
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Zhuangyi Jiang, Richard Otto, Zhenshan Bing, Kai Huang, Alois C. Knoll:
Target Tracking Control of a Wheel-less Snake Robot Based on a Supervised Multi-layered SNN. IROS 2020: 7124-7130
2019
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Zhuangyi Jiang, Pengfei Xia, Kai Huang, Walter Stechele, Guang Chen, Zhenshan Bing, Alois C. Knoll:
Mixed Frame-/Event-Driven Fast Pedestrian Detection. ICRA 2019: 8332-8338
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Zhenshan Bing, Zhuangyi Jiang, Long Cheng, Caixia Cai, Kai Huang, Alois C. Knoll:
End to End Learning of a Multi-Layered Snn Based on R-Stdp for a Target Tracking Snake-Like Robot. ICRA 2019: 9645-9651
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Zhenshan Bing, Christian Lemke, Zhuangyi Jiang, Kai Huang, Alois C. Knoll:
Energy-Efficient Slithering Gait Exploration for a Snake-Like Robot Based on Reinforcement Learning. IJCAI 2019: 5663-5669
2018
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Zhenshan Bing, Claus Meschede, Kai Huang, Guang Chen, Florian Röhrbein, Mahmoud Akl, Alois C. Knoll:
End to End Learning of Spiking Neural Network Based on R-STDP for a Lane Keeping Vehicle. ICRA 2018: 1-8
2017
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Zhenshan Bing, Long Cheng, Alois C. Knoll, Anyang Zhong, Kai Huang, Feihu Zhang:
Slope angle estimation based on multi-sensor fusion for a snake-like robot. FUSION 2017: 1-6
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Fusheng Zha, Kenan Wang, Wei Guo, Zhenshan Bing, Changrong Cai, Baoxiang Wang, Zhenyu Jiang:
Research on the control method for high speed locomotion legged robot. ICARM 2017: 31-36
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Zhuangyi Jiang, Zhenshan Bing, Kai Huang, Guang Chen, Long Cheng, Alois C. Knoll:
Event-Based Target Tracking Control for a Snake Robot Using a Dynamic Vision Sensor. ICONIP (6) 2017: 111-121
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Zhenshan Bing, Long Cheng, Kai Huang, Mingchuan Zhou, Alois C. Knoll:
CPG-based control of smooth transition for body shape and locomotion speed of a snake-like robot. ICRA 2017: 4146-4153
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Zhenshan Bing, Long Cheng, Kai Huang, Zhuangyi Jiang, Guang Chen, Florian Röhrbein, Alois C. Knoll:
Towards autonomous locomotion: Slithering gait design of a snake-like robot for target observation and tracking. IROS 2017: 2698-2703
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Gereon Hinz, Guang Chen, Muhammad Aafaque, Florian Röhrbein, Jörg Conradt, Zhenshan Bing, Zhongnan Qu, Walter Stechele, Alois C. Knoll:
Online Multi-object Tracking-by-Clustering for Intelligent Transportation System with Neuromorphic Vision Sensor. KI 2017: 142-154
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Shanshan Xiao, Zhenshan Bing, Kai Huang, Yuhong Huang:
Snake-like robot climbs inside different pipes. ROBIO 2017: 1232-1239

Informal and Other Publications

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2024
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  - journals/corr/abs-2401-17154
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Kejia Chen, Zhenshan Bing, Yansong Wu, Fan Wu, Liding Zhang, Sami Haddadin, Alois Knoll:
Real-time Contact State Estimation in Shape Control of Deformable Linear Objects under Small Environmental Constraints. CoRR abs/2401.17154 (2024)
[i22]
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  - journals/corr/abs-2402-16449
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Yu Zhang, Guangyao Tian, Long Wen, Xiangtong Yao, Liding Zhang, Zhenshan Bing, Wei He, Alois Knoll:
Online Efficient Safety-Critical Control for Mobile Robots in Unknown Dynamic Multi-Obstacle Environments. CoRR abs/2402.16449 (2024)
[i21]
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  - journals/corr/abs-2402-18946
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Yu Zhang, Long Wen, Xiangtong Yao, Zhenshan Bing, Linghuan Kong, Wei He, Alois Knoll:
Real-Time Adaptive Safety-Critical Control with Gaussian Processes in High-Order Uncertain Models. CoRR abs/2402.18946 (2024)
[i20]
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  - journals/corr/abs-2403-00944
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Yuhong Huang, Zhenshan Bing, Zitao Zhang, Genghang Zhuang, Kai Huang, Alois Knoll:
Optimizing Dynamic Balance in a Rat Robot via the Lateral Flexion of a Soft Actuated Spine. CoRR abs/2403.00944 (2024)
[i19]
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  - journals/corr/abs-2403-11788
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Xinhui Shan, Yuhong Huang, Zhenshan Bing, Zitao Zhang, Xiangtong Yao, Kai Huang, Alois Knoll:
Locomotion Generation for a Rat Robot based on Environmental Changes via Reinforcement Learning. CoRR abs/2403.11788 (2024)
2023
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  - journals/corr/abs-2303-07352
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Haichuan Li, Liguo Zhou, Zhenshan Bing, Marzana Khatun, Rolf Jung, Alois C. Knoll:
Sequential Spatial Network for Collision Avoidance in Autonomous Driving. CoRR abs/2303.07352 (2023)
[i17]
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  - journals/corr/abs-2304-09119
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Zhenshan Bing, Aleksandr Mavrichev, Sicong Shen, Xiangtong Yao, Kejia Chen, Kai Huang, Alois C. Knoll:
Safety Guaranteed Manipulation Based on Reinforcement Learning Planner and Model Predictive Control Actor. CoRR abs/2304.09119 (2023)
[i16]
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  - journals/corr/abs-2305-00286
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Mingyang Wang, Zhenshan Bing, Xiangtong Yao, Shuai Wang, Hang Su, Chenguang Yang, Kai Huang, Alois C. Knoll:
Meta-Reinforcement Learning Based on Self-Supervised Task Representation Learning. CoRR abs/2305.00286 (2023)
[i15]
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  - journals/corr/abs-2305-14067
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Zhenshan Bing, Yuan Meng, Yuqi Yun, Hang Su, Xiaojie Su, Kai Huang, Alois C. Knoll:
DIVA: A Dirichlet Process Based Incremental Deep Clustering Algorithm via Variational Auto-Encoder. CoRR abs/2305.14067 (2023)
[i14]
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  - journals/corr/abs-2305-19075
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Hongkuan Zhou, Zhenshan Bing, Xiangtong Yao, Xiaojie Su, Chenguang Yang, Kai Huang, Alois C. Knoll:
Language-Conditioned Imitation Learning with Base Skill Priors under Unstructured Data. CoRR abs/2305.19075 (2023)
[i13]
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  - journals/corr/abs-2307-10153
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Kejia Chen, Zhenshan Bing, Fan Wu, Yuan Meng, André Kraft, Sami Haddadin, Alois Knoll:
Contact-aware Shaping and Maintenance of Deformable Linear Objects With Fixtures. CoRR abs/2307.10153 (2023)
[i12]
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  - journals/corr/abs-2310-12828
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Liding Zhang, Zhenshan Bing, Kejia Chen, Lingyun Chen, Fan Wu, Peter Krumbholz, Zhilin Yuan, Sami Haddadin, Alois Knoll:
Flexible Informed Trees (FIT*): Adaptive Batch-Size Approach for Informed Sampling-Based Planner. CoRR abs/2310.12828 (2023)
[i11]
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  - journals/corr/abs-2312-02677
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Erdi Sayar, Zhenshan Bing, Carlo D'Eramo, Ozgur S. Oguz, Alois Knoll:
Contact Energy Based Hindsight Experience Prioritization. CoRR abs/2312.02677 (2023)
[i10]
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Hongkuan Zhou, Xiangtong Yao, Yuan Meng, Siming Sun, Zhenshan Bing, Kai Huang, Alois Knoll:
Language-conditioned Learning for Robotic Manipulation: A Survey. CoRR abs/2312.10807 (2023)
2022
[i9]
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  - journals/corr/abs-2209-04924
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Zhenshan Bing, Alexander Koch, Xiangtong Yao, Kai Huang, Alois C. Knoll:
Meta-Reinforcement Learning via Language Instructions. CoRR abs/2209.04924 (2022)
[i8]
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  - journals/corr/abs-2209-10656
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Xiangtong Yao, Zhenshan Bing, Genghang Zhuang, Kejia Chen, Hongkuan Zhou, Kai Huang, Alois C. Knoll:
Learning from Symmetry: Meta-Reinforcement Learning with Symmetric Data and Language Instructions. CoRR abs/2209.10656 (2022)
2021
[i7]
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  - journals/corr/abs-2108-03718
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Zhenshan Bing, Lukas Knak, Fabrice Oliver Robin, Kai Huang, Alois C. Knoll:
Meta-Reinforcement Learning in Broad and Non-Parametric Environments. CoRR abs/2108.03718 (2021)
[i6]
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  - journals/corr/abs-2109-10689
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Zhenshan Bing, Amir E. I. Sewisy, Genghang Zhuang, Florian Walter, Fabrice O. Morin, Kai Huang, Alois C. Knoll:
Towards Cognitive Navigation: Design and Implementation of a Biologically Inspired Head Direction Cell Network. CoRR abs/2109.10689 (2021)
[i5]
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  - journals/corr/abs-2109-12910
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Genghang Zhuang, Zhenshan Bing, Jiaxi Zhao, Ning Li, Yuhong Huang, Kai Huang, Alois C. Knoll:
A Biologically Inspired Simultaneous Localization and Mapping System Based on LiDAR Sensor. CoRR abs/2109.12910 (2021)
[i4]
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  - journals/corr/abs-2109-12928
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Genghang Zhuang, Carlo Cagnetta, Zhenshan Bing, Kai Huang, Alois C. Knoll:
A Biologically Inspired Global Localization System for Mobile Robots Using LiDAR Sensor. CoRR abs/2109.12928 (2021)
2020
[i3]
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  - journals/corr/abs-2003-04603
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Zhenshan Bing, Claus Meschede, Guang Chen, Alois C. Knoll, Kai Huang:
Indirect and Direct Training of Spiking Neural Networks for End-to-End Control of a Lane-Keeping Vehicle. CoRR abs/2003.04603 (2020)
[i2]
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  - journals/corr/abs-2007-13486
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Zhenshan Bing, Matthias Brucker, Fabrice O. Morin, Kai Huang, Alois C. Knoll:
Complex Robotic Manipulation via Graph-Based Hindsight Goal Generation. CoRR abs/2007.13486 (2020)
2019
[i1]
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  - journals/corr/abs-1904-07788
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Zhenshan Bing, Christian Lemke, Zhuangyi Jiang, Kai Huang, Alois C. Knoll:
Energy-Efficient Slithering Gait Exploration for a Snake-like Robot based on Reinforcement Learning. CoRR abs/1904.07788 (2019)

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