29 citations · 51 across the 11 of their papers we have counts for
11 papers
Backward Layout Search for Sequence-Constrained Robotic Assembly
Xi Zhang, Jiancong Dai, Hao Chen +3
Robotic assembly layout planning must determine the assembly site and the initial pose of each part while ensuring collision-free execution of a prescribed assembly sequence. This…
Generalizable task-oriented object grasping through LLM-guided ontology and similarity-based planning
Hao Chen, Takuya Kiyokawa, Weiwei Wan +1
Task-oriented grasping (TOG) is more challenging than simple object grasping because it requires precise identification of object parts and careful selection of grasping areas to e…
A Multi-Level Similarity Approach for Single-View Object Grasping: Matching, Planning, and Fine-Tuning
Hao Chen, Takuya Kiyokawa, Zhengtao Hu +2
Grasping unknown objects from a single view has remained a challenging topic in robotics due to the uncertainty of partial observation. Recent advances in large-scale models have l…
Adaptive Grasping of Moving Objects in Dense Clutter via Global-to-Local Detection and Static-to-Dynamic Planning
Hao Chen, Takuya Kiyokawa, Weiwei Wan +1
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of…
Robotic Test Tube Rearrangement Using Combined Reinforcement Learning and Motion Planning
Hao Chen, Weiwei Wan, Masaki Matsushita +2
A combined task-level reinforcement learning and motion planning framework is proposed in this paper to address a multi-class in-rack test tube rearrangement problem. At the task l…
In-Rack Test Tube Pose Estimation Using RGB-D Data
Hao Chen, Weiwei Wan, Masaki Matsushita +2
Accurate robotic manipulation of test tubes in biology and medical industries is becoming increasingly important to address workforce shortages and improve worker safety. The detec…
Automatically Prepare Training Data for YOLO Using Robotic In-Hand Observation and Synthesis
Hao Chen, Weiwei Wan, Masaki Matsushita +2
Deep learning methods have recently exhibited impressive performance in object detection. However, such methods needed much training data to achieve high recognition accuracy, whic…
Category-Association Based Similarity Matching for Novel Object Pick-and-Place Task
Hao Chen, Takuya Kiyokawa, Weiwei Wan +1
Robotic pick-and-place has been researched for a long time to cope with uncertainty of novel objects and changeable environments. Past works mainly focus on learning-based methods…
Integrating Combined Task and Motion Planning with Compliant Control
Hao Chen, Juncheng Li, Weiwei Wan +2
Planning a motion for inserting pegs remains an open problem. The difficulty lies in both the inevitable errors in the grasps of a robotic hand and absolute precision problems in r…
Planning to Build Soma Blocks Using a Dual-arm Robot
Hao Chen, Weiwei Wan, Keisuke Koyama +1
This paper presents a planner that can automatically find an optimal assembly sequence for a dual-arm robot to assemble the soma blocks. The planner uses the mesh model of objects…
Combined Task and Motion Planning for a Dual-arm Robot to Use a Suction Cup Tool
Hao Chen, Weiwei Wan, Kensuke Harada
This paper proposes a combined task and motion planner for a dual-arm robot to use a suction cup tool. The planner consists of three sub-planners -- A suction pose sub-planner and…