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Achieve robust aerial grasping in cluttered environments by unifying active exploration, 6-DoF grasp generation, and collision-aware feasibility checks into a single pipeline.
Aerial manipulators can achieve superior closed-loop tracking precision and disturbance attenuation in real-world scenarios with unseen payloads by using a novel Factorized Dynamics Transformer (FDT) architecture coupled with a Latent Residual Adapter (LRA) for real-time residual modeling and compensation.
