51 citations · 68 across the 21 of their papers we have counts for
21 papers
TrustRoboReward: Preference-Ordered Isotonic Score Editing for Multi-Paradigm Robot Reward Models
Yidong Wang, Yan Zhan, Ziteng Feng +16
Reward models are a bottleneck for reinforcement learning in embodied AI. Long-horizon robotic manipulation requires scalable vision feedback beyond handcrafted rewards or task-spe…
IMBench: A Benchmark for Intuitive Robotic Manipulation
Anurag Maurya, Sukhvansh Jain, Prajwal Avhad +9
Humans combine reasoning and motor control to solve complex manipulation tasks under diverse constraints. They build an understanding of the physical world that helps them convert…
Diffusion Policy for Coordinated Control of a Nonholonomic Mobile Base and Dual Arms in Door Opening and Passing
Shangqun Yu, Matthew En, Daniel Wu +4
Opening heavy, self closing doors, especially those that require pulling remains a long standing challenge in robotics. Humans naturally employ both arms in a dexterous manner, rot…
ACLM: ADMM-Based Distributed Model Predictive Control for Collaborative Loco-Manipulation
Ziyi Zhou, Pengyuan Shu, Ruize Cao +2
Collaborative transportation of heavy payloads via loco-manipulation is a challenging yet essential capability for legged robots operating in complex, unstructured environments. Ce…
SEEC: Stable End-Effector Control with Model-Enhanced Residual Learning for Humanoid Loco-Manipulation
Jaehwi Jang, Zhuoheng Wang, Ziyi Zhou +2
Arm end-effector stabilization is essential for humanoid loco-manipulation tasks, yet it remains challenging due to the high degrees of freedom and inherent dynamic instability of…
Physically-Feasible Reactive Synthesis for Terrain-Adaptive Locomotion
Ziyi Zhou, Qian Meng, Hadas Kress-Gazit +1
We present an integrated planning framework for quadrupedal locomotion over dynamically changing, unforeseen terrains. Existing methods often depend on heuristics for real-time foo…
Simultaneous Collision Detection and Force Estimation for Dynamic Quadrupedal Locomotion
Ziyi Zhou, Stefano Di Cairano, Yebin Wang +1
In this paper we address the simultaneous collision detection and force estimation problem for quadrupedal locomotion using joint encoder information and the robot dynamics only. W…
Physically-Feasible Reactive Synthesis for Terrain-Adaptive Locomotion via Trajectory Optimization and Symbolic Repair
Ziyi Zhou, Qian Meng, Hadas Kress-Gazit +1
We propose an integrated planning framework for quadrupedal locomotion over dynamically changing, unforeseen terrains. Existing approaches either rely on heuristics for instantaneo…
Opt2Skill: Imitating Dynamically-feasible Whole-Body Trajectories for Versatile Humanoid Loco-Manipulation
Fukang Liu, Zhaoyuan Gu, Yilin Cai +8
Humanoid robots are designed to perform diverse loco-manipulation tasks. However, they face challenges due to their high-dimensional and unstable dynamics, as well as the complex c…
A Survey of Optimization-based Task and Motion Planning: From Classical To Learning Approaches
Zhigen Zhao, Shuo Cheng, Yan Ding +4
Task and Motion Planning (TAMP) integrates high-level task planning and low-level motion planning to equip robots with the autonomy to effectively reason over long-horizon, dynamic…
Hierarchical Experience-informed Navigation for Multi-modal Quadrupedal Rebar Grid Traversal
Max Asselmeier, Jane Ivanova, Ziyi Zhou +2
This study focuses on a layered, experience-based, multi-modal contact planning framework for agile quadrupedal locomotion over a constrained rebar environment. To this end, our hi…
Controlling Character Motions without Observable Driving Source
Weiyuan Li, Bin Dai, Ziyi Zhou +2
How to generate diverse, life-like, and unlimited long head/body sequences without any driving source? We argue that this under-investigated research problem is non-trivial at all,…
Real-Time Deformable-Contact-Aware Model Predictive Control for Force-Modulated Manipulation
Lasitha Wijayarathne, Ziyi Zhou, Ye Zhao +1
Force modulation of robotic manipulators has been extensively studied for several decades. However, it is not yet commonly used in safety-critical applications due to a lack of acc…
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…
Momentum-Aware Trajectory Optimization and Control for Agile Quadrupedal Locomotion
Ziyi Zhou, Bruce Wingo, Nathan Boyd +2
In this letter, we present a versatile hierarchical offline planning algorithm, along with an online control pipeline for agile quadrupedal locomotion. Our offline planner alternat…
Reactive Task Allocation and Planning for Quadrupedal and Wheeled Robot Teaming
Ziyi Zhou, Dong Jae Lee, Yuki Yoshinaga +3
This paper takes the first step towards a reactive, hierarchical multi-robot task allocation and planning framework given a global Linear Temporal Logic specification. The capabili…
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…