91 citations · 103 across the 21 of their papers we have counts for
21 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…
Flight Structure Optimization of Modular Reconfigurable UAVs
Yao Su, Ziyuan Jiao, Zeyu Zhang +4
This paper presents a Genetic Algorithm (GA) designed to reconfigure a large group of modular Unmanned Aerial Vehicles (UAVs), each with different weights and inertia parameters, i…
Dynamic Planning for Sequential Whole-body Mobile Manipulation
Zhitian Li, Yida Niu, Yao Su +2
The dynamic Sequential Mobile Manipulation Planning (SMMP) framework is essential for the safe and robust operation of mobile manipulators in dynamic environments. Previous researc…
Closed-Loop Open-Vocabulary Mobile Manipulation with GPT-4V
Peiyuan Zhi, Zhiyuan Zhang, Yu Zhao +6
Autonomous robot navigation and manipulation in open environments require reasoning and replanning with closed-loop feedback. In this work, we present COME-robot, the first closed-…
LLM3:Large Language Model-based Task and Motion Planning with Motion Failure Reasoning
Shu Wang, Muzhi Han, Ziyuan Jiao +4
Conventional Task and Motion Planning (TAMP) approaches rely on manually crafted interfaces connecting symbolic task planning with continuous motion generation. These domain-specif…
On the Emergence of Symmetrical Reality
Zhenliang Zhang, Zeyu Zhang, Ziyuan Jiao +4
Artificial intelligence (AI) has revolutionized human cognitive abilities and facilitated the development of new AI entities capable of interacting with humans in both physical and…
Part-level Scene Reconstruction Affords Robot Interaction
Zeyu Zhang, Lexing Zhang, Zaijin Wang +5
Existing methods for reconstructing interactive scenes primarily focus on replacing reconstructed objects with CAD models retrieved from a limited database, resulting in significan…
Sequential Manipulation Planning for Over-actuated Unmanned Aerial Manipulators
Yao Su, Jiarui Li, Ziyuan Jiao +5
We investigate the sequential manipulation planning problem for unmanned aerial manipulators (UAMs). Unlike prior work that primarily focuses on one-step manipulation tasks, sequen…
Rearrange Indoor Scenes for Human-Robot Co-Activity
Weiqi Wang, Zihang Zhao, Ziyuan Jiao +3
We present an optimization-based framework for rearranging indoor furniture to accommodate human-robot co-activities better. The rearrangement aims to afford sufficient accessible…
Sequential Manipulation Planning on Scene Graph
Ziyuan Jiao, Yida Niu, Zeyu Zhang +3
We devise a 3D scene graph representation, contact graph+ (cg+), for efficient sequential task planning. Augmented with predicate-like attributes, this contact graph-based represen…
Understanding Physical Effects for Effective Tool-use
Zeyu Zhang, Ziyuan Jiao, Weiqi Wang +3
We present a robot learning and planning framework that produces an effective tool-use strategy with the least joint efforts, capable of handling objects different from training. L…
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…
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…
Synthesizing Diverse and Physically Stable Grasps with Arbitrary Hand Structures using Differentiable Force Closure Estimator
Tengyu Liu, Zeyu Liu, Ziyuan Jiao +2
Existing grasp synthesis methods are either analytical or data-driven. The former one is oftentimes limited to specific application scope. The latter one depends heavily on demonst…
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…
Congestion-aware Evacuation Routing using Augmented Reality Devices
Zeyu Zhang, Hangxin Liu, Ziyuan Jiao +2
We present a congestion-aware routing solution for indoor evacuation, which produces real-time individual-customized evacuation routes among multiple destinations while keeping tra…