16 citations · 26 across the 21 of their papers we have counts for
14 papers · 1 filter
Language-Guided Generation for Personalized Inspection Planning
Xingpeng Sun, Zherong Pan, Xifeng Gao +2
We propose a training-free, Vision-Language Model (VLM)-guided approach for efficiently generating trajectories to facilitate target inspection planning based on text descriptions.…
SDRS: Shape-Differentiable Robot Simulator
Xiaohan Ye, Xifeng Gao, Kui Wu +2
Robot simulators are indispensable tools across many fields, and recent research has significantly improved their functionality by incorporating additional gradient information. Ho…
Learning Neural Traffic Rules
Xuan Zhang, Xifeng Gao, Kui Wu +1
Extensive research has been devoted to the field of multi-agent navigation. Recently, there has been remarkable progress attributed to the emergence of learning-based techniques wi…
Learning Reduced-Order Soft Robot Controller
Chen Liang, Xifeng Gao, Kui Wu +1
Deformable robots are notoriously difficult to model or control due to its high-dimensional configuration spaces. Direct trajectory optimization suffers from the curse-of-dimension…
Second-Order Convergent Collision-Constrained Optimization-Based Planner
Chen Liang, Xifeng Gao, Kui Wu +1
Finding robot poses and trajectories represents a foundational aspect of robot motion planning. Despite decades of research, efficiently and robustly addressing these challenges is…
Provably Robust Semi-Infinite Program Under Collision Constraints via Subdivision
Duo Zhang, Chen Liang, Xifeng Gao +2
We present a semi-infinite program (SIP) solver for trajectory optimizations of general articulated robots. These problems are more challenging than standard Nonlinear Program (NLP…
First-Order Bilevel Topology Optimization for Fast Mechanical Design
Zherong Pan, Xifeng Gao, Kui Wu
Topology Optimization (TO), which maximizes structural robustness under material weight constraints, is becoming an essential step for the automatic design of mechanical parts. How…
Robust Multi-Robot Trajectory Optimization Using Alternating Direction Method of Multiplier
Ruiqi Ni, Zherong Pan, Xifeng Gao
We propose a variant of alternating direction method of multiplier (ADMM) to solve constrained trajectory optimization problems. Our ADMM framework breaks a joint optimization into…
Joint Search of Optimal Topology and Trajectory for Planar Linkages
Zherong Pan, Min Liu, Xifeng Gao +1
We present an algorithm to compute planar linkage topology and geometry, given a user-specified end-effector trajectory. Planar linkage structures convert rotational or prismatic m…
Multi-Robot Path Planning in Complex Environments via Graph Embedding
Xifeng Gao, Zherong Pan, Ruiqi Ni
We propose an approach to solve multi-agent path planning (MPP) problems for complex environments. Our method first designs a special pebble graph with a set of feasibility constra…
Planning of Power Grasps Using Infinite Program Under Complementary Constraints
Zherong Pan, Duo Zhang, Changhe Tu +1
We propose an optimization-based approach to plan power grasps. Central to our method is a reformulation of grasp planning as an infinite program under complementary constraints (I…
Robust & Asymptotically Locally Optimal UAV-Trajectory Generation Based on Spline Subdivision
Ruiqi Ni, Teseo Schneider, Daniele Panozzo +2
Generating locally optimal UAV-trajectories is challenging due to the non-convex constraints of collision avoidance and actuation limits. We present the first local, optimization-b…
Generating Optimal Grasps Under A Stress-Minimizing Metric
Zherong Pan, Xifeng Gao, Dinesh Manocha
We present stress-minimizing (SM) metric, a new metric of grasp qualities. Unlike previous metrics that ignore the material of target objects, we assume that target objects are mad…
Globally Optimal Joint Search of Topology and Trajectory for Planar Linkages
Zherong Pan, Min Liu, Xifeng Gao +2
We present a method to find globally optimal topology and trajectory jointly for planar linkages. Planar linkage structures can generate complex end-effector trajectories using onl…