2 papers
cs.RO2025
LEMMo-Plan: LLM-Enhanced Learning from Multi-Modal Demonstration for Planning Sequential Contact-Rich Manipulation Tasks
Kejia Chen, Zheng Shen, Yue Zhang +5
Large Language Models (LLMs) have gained popularity in task planning for long-horizon manipulation tasks. To enhance the validity of LLM-generated plans, visual demonstrations and…
cs.RO2024
Safe Execution of Learned Orientation Skills with Conic Control Barrier Functions
Zheng Shen, Matteo Saveriano, Fares J. Abu-Dakka +1
In the field of Learning from Demonstration (LfD), Dynamical Systems (DSs) have gained significant attention due to their ability to generate real-time motions and reach predefined…