10 citations · 12 across the 3 of their papers we have counts for
6 papers
See, Plan, Predict: Language-guided Cognitive Planning with Video Prediction
Maria Attarian, Advaya Gupta, Ziyi Zhou +3
Cognitive planning is the structural decomposition of complex tasks into a sequence of future behaviors. In the computational setting, performing cognitive planning entails groundi…
Terrain-perception-free Quadrupedal Spinning Locomotion on Versatile Terrains: Modeling, Analysis, and Experimental Validation
Hongwu Zhu, Dong Wang, Nathan Boyd +6
Dynamic quadrupedal locomotion over rough terrains reveals remarkable progress over the last few decades. Small-scale quadruped robots are adequately flexible and adaptable to trav…
SyDeBO: Symbolic-Decision-Embedded Bilevel Optimization for Long-Horizon Manipulation in Dynamic Environments
Zhigen Zhao, Ziyi Zhou, Michael Park +1
This study proposes a Task and Motion Planning (TAMP) method with symbolic decisions embedded in a bilevel optimization. This TAMP method exploits the discrete structure of sequent…
Simultaneous Trajectory Optimization and Force Control with Soft Contact Mechanics
Lasitha Wijayarathne, Qie Sima, Ziyi Zhou +2
Force modulation of robotic manipulators has been extensively studied for several decades but is not yet commonly used in safety-critical applications due to a lack of accurate int…
Accelerated ADMM based Trajectory Optimization for Legged Locomotion with Coupled Rigid Body Dynamics
Ziyi Zhou, Ye Zhao
Trajectory optimization is becoming increasingly powerful in addressing motion planning problems of underactuated robotic systems. Numerous prior studies solve such a class of larg…
Flexoskeleton printing for versatile insect-inspired robots
Mingsong Jiang, Ziyi Zhou, Nicholas G. Gravish
One of the many secrets to the success and prevalence of insects is their versatile, robust, and complex exoskeleton morphology. A fundamental challenge in insect-inspired robotics…