2 citations · 3 across the 13 of their papers we have counts for
15 papers
Scalable Trajectory Generation for Whole-Body Mobile Manipulation
Yida Niu, Xinhai Chang, Xin Liu +2
Robots deployed in unstructured environments must coordinate whole-body motion -- simultaneously moving a mobile base and arm -- to interact with the physical world. This coupled m…
Integrated Exploration and Sequential Manipulation on Scene Graph with LLM-based Situated Replanning
Heqing Yang, Ziyuan Jiao, Shu Wang +3
In partially known environments, robots must combine exploration to gather information with task planning for efficient execution. To address this challenge, we propose EPoG, an Ex…
Integration of Robot and Scene Kinematics for Sequential Mobile Manipulation Planning
Ziyuan Jiao, Yida Niu, Zeyu Zhang +5
We present a Sequential Mobile Manipulation Planning (SMMP) framework that can solve long-horizon multi-step mobile manipulation tasks with coordinated whole-body motion, even when…
In-situ Value-aligned Human-Robot Interactions with Physical Constraints
Hongtao Li, Ziyuan Jiao, Xiaofeng Liu +2
Equipped with Large Language Models (LLMs), human-centered robots are now capable of performing a wide range of tasks that were previously deemed challenging or unattainable. Howev…
SuperMag: Vision-based Tactile Data Guided High-resolution Tactile Shape Reconstruction for Magnetic Tactile Sensors
Peiyao Hou, Danning Sun, Meng Wang +5
Magnetic-based tactile sensors (MBTS) combine the advantages of compact design and high-frequency operation but suffer from limited spatial resolution due to their sparse taxel arr…
IKDiffuser: a Diffusion-based Generative Inverse Kinematics Solver for Kinematic Trees
Zeyu Zhang, Ziyuan Jiao
Solving Inverse Kinematics (IK) for arbitrary kinematic trees presents significant challenges due to their high-dimensionality, redundancy, and complex inter-branch constraints. Co…