37 citations · 95 across the 25 of their papers we have counts for
25 papers
AVT-Fabric: Active Visuo-Tactile Perception via Adaptive Evidence Selection for Efficient Robotic Fabric Comparison
Chang Gao, Zhuo Chen, Suhang Xia +3
Robotic fabric comparison needs to actively combine visual appearance and tactile cues. Here, we present AVT-Fabric, an RGB-first framework that allocates tactile evidence accordin…
Dressing in Motion: A Human Motion-Aware Diffusion Policy for Robot-Assisted Dressing
Haoxiang Sun, Fangyuan Wang, Songhao Huang +4
Robotic dressing assistance is a promising solution for supporting older adults with physical impairments in daily living. However, dressing under human motion remains challenging,…
Hazard Management in Robot-Assisted Mammography Support
Ioannis Stefanakos, Roisin Bradley, Radu Calinescu +3
Robotic and embodied-AI systems have the potential to improve accessibility and quality of care in clinical settings, but their deployment in close physical contact with vulnerable…
Addressing Ambiguity in Imitation Learning through Product of Experts based Negative Feedback
John Bateman, Andy M. Tyrrell, Jihong Zhu
Programming robots to perform complex tasks is often difficult and time consuming, requiring expert knowledge and skills in robot software and sometimes hardware. Imitation learnin…
TARMAC: A Taxonomy for Robot Manipulation in Chemistry
Kefeng Huang, Jonathon Pipe, Alice E. Martin +5
Chemistry laboratory automation aims to increase throughput, reproducibility, and safety, yet many existing systems still depend on frequent human intervention. Advances in robotic…
Rise of the Robochemist
Jihong Zhu, Kefeng Huang, Jonathon Pipe +3
Chemistry, a long-standing discipline, has historically relied on manual and often time-consuming processes. While some automation exists, the field is now on the cusp of a signifi…
Suction Leap-Hand: Suction Cups on a Multi-fingered Hand Enable Embodied Dexterity and In-Hand Teleoperation
Sun Zhaole, Xiaofeng Mao, Jihong Zhu +2
Dexterous in-hand manipulation remains a foundational challenge in robotics, with progress often constrained by the prevailing paradigm of imitating the human hand. This anthropomo…
Bimanual Robot-Assisted Dressing: A Spherical Coordinate-Based Strategy for Tight-Fitting Garments
Jian Zhao, Yunlong Lian, Andy M Tyrrell +2
Robot-assisted dressing is a popular but challenging topic in the field of robotic manipulation, offering significant potential to improve the quality of life for individuals with…
MLLM-Fabric: Multimodal Large Language Model-Driven Robotic Framework for Fabric Sorting and Selection
Liman Wang, Hanyang Zhong, Tianyuan Wang +2
Choosing appropriate fabrics is critical for meeting functional and quality demands in robotic textile manufacturing, apparel production, and smart retail. We propose MLLM-Fabric,…
Dexterous Cable Manipulation: Taxonomy, Multi-Fingered Hand Design, and Long-Horizon Manipulation
Sun Zhaole, Xiao Gao, Xiaofeng Mao +3
Existing research that addressed cable manipulation relied on two-fingered grippers, which make it difficult to perform similar cable manipulation tasks that humans perform. Howeve…
LLM-BT: Performing Robotic Adaptive Tasks based on Large Language Models and Behavior Trees
Haotian Zhou, Yunhan Lin, Longwu Yan +2
Large Language Models (LLMs) have been widely utilized to perform complex robotic tasks. However, handling external disturbances during tasks is still an open challenge. This paper…
DexDLO: Learning Goal-Conditioned Dexterous Policy for Dynamic Manipulation of Deformable Linear Objects
Sun Zhaole, Jihong Zhu, Robert B. Fisher
Deformable linear object (DLO) manipulation is needed in many fields. Previous research on deformable linear object (DLO) manipulation has primarily involved parallel jaw gripper m…
Design and trajectory tracking control of CuRobot: A Cubic Reversible Robot
Kai Yang, Jiahui Wang, Yuchen Weng +4
In field environments, numerous robots necessitate manual intervention for restoration of functionality post a turnover, resulting in diminished operational efficiency. This study…
Learning to bag with a simulation-free reinforcement learning framework for robots
Francisco Munguia-Galeano, Jihong Zhu, Juan David Hernández +1
Bagging is an essential skill that humans perform in their daily activities. However, deformable objects, such as bags, are complex for robots to manipulate. This paper presents an…
Learning from Few Demonstrations with Frame-Weighted Motion Generation
Jianyong Sun, Jens Kober, Michael Gienger +1
Learning from Demonstration (LfD) enables robots to acquire versatile skills by learning motion policies from human demonstrations. It endows users with an intuitive interface to t…
Robotic Fabric Flattening with Wrinkle Direction Detection
Yulei Qiu, Jihong Zhu, Cosimo Della Santina +2
Deformable Object Manipulation (DOM) is an important field of research as it contributes to practical tasks such as automatic cloth handling, cable routing, surgical operation, etc…
Do You Need a Hand? -- a Bimanual Robotic Dressing Assistance Scheme
Jihong Zhu, Michael Gienger, Giovanni Franzese +1
Developing physically assistive robots capable of dressing assistance has the potential to significantly improve the lives of the elderly and disabled population. However, most rob…
A Dual-Arm Collaborative Framework for Dexterous Manipulation in Unstructured Environments with Contrastive Planning
Shengzeng Huo, Fangyuan Wang, Luyin Hu +4
Most object manipulation strategies for robots are based on the assumption that the object is rigid (i.e., with fixed geometry) and the goal's details have been fully specified (e.…
Learning Task-Parameterized Skills from Few Demonstrations
Jihong Zhu, Michael Gienger, Jens Kober
Moving away from repetitive tasks, robots nowadays demand versatile skills that adapt to different situations. Task-parameterized learning improves the generalization of motion pol…
Contour Moments Based Manipulation of Composite Rigid-Deformable Objects with Finite Time Model Estimation and Shape/Position Control
Jiaming Qi, Guangfu Ma, Jihong Zhu +4
The robotic manipulation of composite rigid-deformable objects (i.e. those with mixed non-homogeneous stiffness properties) is a challenging problem with clear practical applicatio…
Challenges and Outlook in Robotic Manipulation of Deformable Objects
Jihong Zhu, Andrea Cherubini, Claire Dune +10
Deformable object manipulation (DOM) is an emerging research problem in robotics. The ability to manipulate deformable objects endows robots with higher autonomy and promises new a…
Shape Control of Elastic Objects Based on Implicit Sensorimotor Models and Data-Driven Geometric Features
Wanyu Ma, Jihong Zhu, David Navarro-Alarcon
This paper proposes a general approach to design automatic controls to manipulate elastic objects into desired shapes. The object's geometric model is defined as the shape feature…
LaSeSOM: A Latent and Semantic Representation Framework for Soft Object Manipulation
Peng Zhou, Jihong Zhu, Shengzeng Huo +1
Soft object manipulation has recently gained popularity within the robotics community due to its potential applications in many economically important areas. Although great progres…
Vision-based Manipulation of Deformable and Rigid Objects Using Subspace Projections of 2D Contours
Jihong Zhu, David Navarro-Alarcon, Robin Passama +1
This paper proposes a unified vision-based manipulation framework using image contours of deformable/rigid objects. Instead of using human-defined cues, the robot automatically lea…