137 citations · 258 across the 25 of their papers we have counts for
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cs.RO2021
Consolidating Kinematic Models to Promote Coordinated Mobile Manipulations
Ziyuan Jiao, Zeyu Zhang, Xin Jiang +4
We construct a Virtual Kinematic Chain (VKC) that readily consolidates the kinematics of the mobile base, the arm, and the object to be manipulated in mobile manipulations. Accordi…
cs.RO2021
Efficient Task Planning for Mobile Manipulation: a Virtual Kinematic Chain Perspective
Ziyuan Jiao, Zeyu Zhang, Weiqi Wang +4
We present a Virtual Kinematic Chain (VKC) perspective, a simple yet effective method, to improve task planning efficacy for mobile manipulation. By consolidating the kinematics of…
cs.RO2021
Reconstructing Interactive 3D Scenes by Panoptic Mapping and CAD Model Alignments
Muzhi Han, Zeyu Zhang, Ziyuan Jiao +4
In this paper, we rethink the problem of scene reconstruction from an embodied agent's perspective: While the classic view focuses on the reconstruction accuracy, our new perspecti…