5 papers
InCoM: Intent-Driven Perception and Structured Coordination for Mobile Manipulation
Jiahao Liu, Cui Wenbo, Zhongpu Xia +3
Mobile manipulation is a fundamental capability for general-purpose robotic agents, requiring both coordinated control of the mobile base and manipulator and robust perception unde…
Simulation-Driven Evolutionary Motion Parameterization for Contact-Rich Granular Scooping with a Soft Conical Robotic Hand
Yongliang Wang, Cristian C. Beltran-Hernandez, Tomoya Takahashi +1
Tool-based scooping is vital in robot-assisted tasks, enabling interaction with objects of varying sizes, shapes, and material states. Recent studies have shown that flexible, reco…
Fast Trajectory Planner with a Reinforcement Learning-based Controller for Robotic Manipulators
Yongliang Wang, Hamidreza Kasaei
Generating obstacle-free trajectories for robotic manipulators in unstructured and cluttered environments remains a significant challenge. Existing motion planning methods often re…
Learning Dual-Arm Coordination for Grasping Large Flat Objects
Yongliang Wang, Hamidreza Kasaei
Grasping large flat objects, such as books or keyboards lying horizontally, presents significant challenges for single-arm robotic systems, often requiring extra actions like pushi…
Learning Dual-Arm Push and Grasp Synergy in Dense Clutter
Yongliang Wang, Hamidreza Kasaei
Robotic grasping in densely cluttered environments is challenging due to scarce collision-free grasp affordances. Non-prehensile actions can increase feasible grasps in cluttered e…