100 citations · 210 across the 38 of their papers we have counts for
42 papers
Learning to Throw Objects Safely in Multi-Obstacle Environments
Mohammadreza Kasaei, Klemen Voncina, Hamidreza Kasaei
Robotic throwing enables fast and efficient object placement beyond the robot's immediate workspace, but reliable throwing in cluttered environments remains underexplored. Existing…
Parse-Augment-Distill: Learning Generalizable Bimanual Visuomotor Policies from Single Human Video
Georgios Tziafas, Jiayun Zhang, Hamidreza Kasaei
Learning visuomotor policies from expert demonstrations is an important frontier in modern robotics research, however, most popular methods require copious efforts for collecting t…
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…
Asymmetric Dual Self-Distillation for 3D Self-Supervised Representation Learning
Remco F. Leijenaar, Hamidreza Kasaei
Learning semantically meaningful representations from unstructured 3D point clouds remains a central challenge in computer vision, especially in the absence of large-scale labeled…
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…
LM-MCVT: A Lightweight Multi-modal Multi-view Convolutional-Vision Transformer Approach for 3D Object Recognition
Songsong Xiong, Hamidreza Kasaei
In human-centered environments such as restaurants, homes, and warehouses, robots often face challenges in accurately recognizing 3D objects. These challenges stem from the complex…
Enhanced View Planning for Robotic Harvesting: Tackling Occlusions with Imitation Learning
Lun Li, Hamidreza Kasaei
In agricultural automation, inherent occlusion presents a major challenge for robotic harvesting. We propose a novel imitation learning-based viewpoint planning approach to activel…
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…
ManiSkill-ViTac 2025: Challenge on Manipulation Skill Learning With Vision and Tactile Sensing
Chuanyu Li, Renjun Dang, Xiang Li +8
This article introduces the ManiSkill-ViTac Challenge 2025, which focuses on learning contact-rich manipulation skills using both tactile and visual sensing. Expanding upon the 202…
VLN-Game: Vision-Language Equilibrium Search for Zero-Shot Semantic Navigation
Bangguo Yu, Yuzhen Liu, Lei Han +3
Following human instructions to explore and search for a specified target in an unfamiliar environment is a crucial skill for mobile service robots. Most of the previous works on o…
PANav: Toward Privacy-Aware Robot Navigation via Vision-Language Models
Bangguo Yu, Hamidreza Kasaei, Ming Cao
Navigating robots discreetly in human work environments while considering the possible privacy implications of robotic tasks presents significant challenges. Such scenarios are inc…
Single-Shot 6DoF Pose and 3D Size Estimation for Robotic Strawberry Harvesting
Lun Li, Hamidreza Kasaei
In this study, we introduce a deep-learning approach for determining both the 6DoF pose and 3D size of strawberries, aiming to significantly augment robotic harvesting efficiency.…
HMT-Grasp: A Hybrid Mamba-Transformer Approach for Robot Grasping in Cluttered Environments
Songsong Xiong, Hamidreza Kasaei
Robot grasping, whether handling isolated objects, cluttered items, or stacked objects, plays a critical role in industrial and service applications. However, current visual grasp…
Lifelong Robot Library Learning: Bootstrapping Composable and Generalizable Skills for Embodied Control with Language Models
Georgios Tziafas, Hamidreza Kasaei
Large Language Models (LLMs) have emerged as a new paradigm for embodied reasoning and control, most recently by generating robot policy code that utilizes a custom library of visi…
VITAL: Interactive Few-Shot Imitation Learning via Visual Human-in-the-Loop Corrections
Hamidreza Kasaei, Mohammadreza Kasaei
Imitation Learning (IL) has emerged as a powerful approach in robotics, allowing robots to acquire new skills by mimicking human actions. Despite its potential, the data collection…
3D Feature Distillation with Object-Centric Priors
Georgios Tziafas, Yucheng Xu, Zhibin Li +1
Grounding natural language to the physical world is a ubiquitous topic with a wide range of applications in computer vision and robotics. Recently, 2D vision-language models such a…
Towards Open-World Grasping with Large Vision-Language Models
Georgios Tziafas, Hamidreza Kasaei
The ability to grasp objects in-the-wild from open-ended language instructions constitutes a fundamental challenge in robotics. An open-world grasping system should be able to comb…
Harnessing the Synergy between Pushing, Grasping, and Throwing to Enhance Object Manipulation in Cluttered Scenarios
Hamidreza Kasaei, Mohammadreza Kasaei
In this work, we delve into the intricate synergy among non-prehensile actions like pushing, and prehensile actions such as grasping and throwing, within the domain of robotic mani…
Language-guided Robot Grasping: CLIP-based Referring Grasp Synthesis in Clutter
Georgios Tziafas, Yucheng Xu, Arushi Goel +3
Robots operating in human-centric environments require the integration of visual grounding and grasping capabilities to effectively manipulate objects based on user instructions. T…
Co-NavGPT: Multi-Robot Cooperative Visual Semantic Navigation Using Vision Language Models
Bangguo Yu, Qihao Yuan, Kailai Li +2
Visual target navigation is a critical capability for autonomous robots operating in unknown environments, particularly in human-robot interaction scenarios. While classical and le…
Fine-grained 3D object recognition: an approach and experiments
Junhyung Jo, Hamidreza Kasaei
Three-dimensional (3D) object recognition technology is being used as a core technology in advanced technologies such as autonomous driving of automobiles. There are two sets of ap…
Learning Perceptive Bipedal Locomotion over Irregular Terrain
Bart van Marum, Matthia Sabatelli, Hamidreza Kasaei
In this paper we propose a novel bipedal locomotion controller that uses noisy exteroception to traverse a wide variety of terrains. Building on the cutting-edge advancements in at…
Controllable Video Generation by Learning the Underlying Dynamical System with Neural ODE
Yucheng Xu, Li Nanbo, Arushi Goel +5
Videos depict the change of complex dynamical systems over time in the form of discrete image sequences. Generating controllable videos by learning the dynamical system is an impor…
Frontier Semantic Exploration for Visual Target Navigation
Bangguo Yu, Hamidreza Kasaei, Ming Cao
This work focuses on the problem of visual target navigation, which is very important for autonomous robots as it is closely related to high-level tasks. To find a special object i…