165 citations · 332 across the 61 of their papers we have counts for
22 papers · 1 filter
OmniDexVLG: Learning Dexterous Grasp Generation from Vision Language Model-Guided Grasp Semantics, Taxonomy and Functional Affordance
Lei Zhang, Diwen Zheng, Kaixin Bai +5
Dexterous grasp generation aims to produce grasp poses that align with task requirements and human interpretable grasp semantics. However, achieving semantically controllable dexte…
DualGazeNet: A Biologically Inspired Dual-Gaze Query Network for Salient Object Detection
Yu Zhang, Haoan Ping, Yuchen Li +3
Recent salient object detection (SOD) methods aim to improve performance in four key directions: semantic enhancement, boundary refinement, auxiliary task supervision, and multi-mo…
Robotic Ultra-Long-Horizon Manipulation Skills via Human-guided Lifelong Code Generation
Yuan Meng, Zhenguo Sun, Max Fest +4
Large language models (LLMs) can translate natural-language instructions for robotic manipulation into executable code, but ambiguity, noisy generations, and limited context window…
Inference-stage Adaptation-projection Strategy Adapts Diffusion Policy to Cross-manipulators Scenarios
Xiangtong Yao, Yirui Zhou, Yuan Meng +7
Diffusion policies are powerful visuomotor models for robotic manipulation, yet they often fail to generalize to manipulators or end-effectors unseen during training and struggle t…
RobotDancing: Residual-Action Reinforcement Learning Enables Robust Long-Horizon Humanoid Motion Tracking
Zhenguo Sun, Yibo Peng, Yuan Meng +5
Long-horizon, high-dynamic motion tracking on humanoids remains brittle: retargeted reference motions are typically kinematically plausible but dynamically inconsistent with the ro…
FUNCanon: Learning Pose-Aware Action Primitives via Functional Object Canonicalization for Generalizable Robotic Manipulation
Hongli Xu, Lei Zhang, Xiaoyue Hu +7
General-purpose robotic skills from end-to-end demonstrations often leads to task-specific policies that fail to generalize beyond the training distribution. Therefore, we introduc…
M4Diffuser: Multi-View Diffusion Policy with Manipulability-Aware Control for Robust Mobile Manipulation
Ju Dong, Lei Zhang, Liding Zhang +8
Mobile manipulation requires the coordinated control of a mobile base and a robotic arm while simultaneously perceiving both global scene context and fine-grained object details. E…
Estimated Informed Anytime Search for Sampling-Based Planning via Adaptive Sampler
Liding Zhang, Kuanqi Cai, Yu Zhang +5
Path planning in robotics often involves solving continuously valued, high-dimensional problems. Popular informed approaches include graph-based searches, such as A*, and sampling-…
Language-Enhanced Mobile Manipulation for Efficient Object Search in Indoor Environments
Liding Zhang, Zeqi Li, Kuanqi Cai +3
Enabling robots to efficiently search for and identify objects in complex, unstructured environments is critical for diverse applications ranging from household assistance to indus…
Deep Fuzzy Optimization for Batch-Size and Nearest Neighbors in Optimal Robot Motion Planning
Liding Zhang, Qiyang Zong, Yu Zhang +2
Efficient motion planning algorithms are essential in robotics. Optimizing essential parameters, such as batch size and nearest neighbor selection in sampling-based methods, can en…
Genetic Informed Trees (GIT*): Path Planning via Reinforced Genetic Programming Heuristics
Liding Zhang, Kuanqi Cai, Zhenshan Bing +2
Optimal path planning involves finding a feasible state sequence between a start and a goal that optimizes an objective. This process relies on heuristic functions to guide the sea…
APT*: Asymptotically Optimal Motion Planning via Adaptively Prolated Elliptical R-Nearest Neighbors
Liding Zhang, Sicheng Wang, Kuanqi Cai +5
Optimal path planning aims to determine a sequence of states from a start to a goal while accounting for planning objectives. Popular methods often integrate fixed batch sizes and…
Tree-Based Grafting Approach for Bidirectional Motion Planning with Local Subsets Optimization
Liding Zhang, Yao Ling, Zhenshan Bing +3
Bidirectional motion planning often reduces planning time compared to its unidirectional counterparts. It requires connecting the forward and reverse search trees to form a continu…
Elliptical K-Nearest Neighbors -- Path Optimization via Coulomb's Law and Invalid Vertices in C-space Obstacles
Liding Zhang, Zhenshan Bing, Yu Zhang +5
Path planning has long been an important and active research area in robotics. To address challenges in high-dimensional motion planning, this study introduces the Force Direction…
Direction Informed Trees (DIT*): Optimal Path Planning via Direction Filter and Direction Cost Heuristic
Liding Zhang, Kejia Chen, Kuanqi Cai +7
Optimal path planning requires finding a series of feasible states from the starting point to the goal to optimize objectives. Popular path planning algorithms, such as Effort Info…
Whisker-based Active Tactile Perception for Contour Reconstruction
Yixuan Dang, Qinyang Xu, Yu Zhang +5
Perception using whisker-inspired tactile sensors currently faces a major challenge: the lack of active control in robots based on direct contact information from the whisker. To a…
Multi-Robot Assembly of Deformable Linear Objects Using Multi-Modal Perception
Kejia Chen, Celina Dettmering, Florian Pachler +7
Industrial assembly of deformable linear objects (DLOs) such as cables offers great potential for many industries. However, DLOs pose several challenges for robot-based automation…
DORA: Object Affordance-Guided Reinforcement Learning for Dexterous Robotic Manipulation
Lei Zhang, Soumya Mondal, Zhenshan Bing +5
Dexterous robotic manipulation remains a longstanding challenge in robotics due to the high dimensionality of control spaces and the semantic complexity of object interaction. In t…
Robotic Long-Horizon Manipulation with Bayesian Non-parametric Skill Priors
Yuan Meng, Xiangtong Yao, Kejia Chen +5
Long-horizon manipulation under sparse rewards remains challenging for reinforcement learning due to delayed feedback and inefficient exploration. Existing skill-based approaches o…
Robotic Long-Horizon Manipulation with Progressive In-Context Code Generation and Episodic Feedback
Yuan Meng, Xiangtong Yao, Haihui Ye +6
Robotic long-horizon manipulation requires robots to compose perception, reasoning, and action over extended task sequences, yet existing language-conditioned frameworks often rely…
SharedAssembly: A Data Collection Approach via Shared Tele-Assembly
Yansong Wu, Xiao Chen, Yu Chen +4
High-precision, tight-clearance assembly demonstrations are indispensable for training tactile-aware robotic foundation models, yet their acquisition is heavily bottlenecked by the…
Pick-and-place Manipulation Across Grippers Without Retraining: A Learning-optimization Diffusion Policy Approach
Xiangtong Yao, Yirui Zhou, Yuan Meng +7
Current robotic pick-and-place policies typically require consistent gripper configurations across training and inference. This constraint imposes high retraining or fine-tuning co…