2 citations · 3 across the 12 of their papers we have counts for
12 papers
Automatic Labelling for Bimanual Mobile Manipulation
Yupu Lu, Jia Pan
Semantically meaningful subtask labels can provide useful contexts for long-horizon policies, but automatically identifying both reliable temporal boundaries and broad semantic des…
SSC: A Verifiable Structured Representation for Bimanual Manipulation Labelling
Yupu Lu, Shuang Wu, Sihan Chen +4
Subtask labels decompose a long-horizon manipulation demonstration into shorter semantic segments for policy training and evaluation. Natural language descriptions are easy to read…
Decompose and Reorganize: Planning with Primitives and Visuomotor Policies Learned from Demonstrations
Yizhou Chen, Hang Xu, Dongjie Yu +7
Successfully automating dexterous, long-horizon robotic manipulation requires frameworks capable of both high-level reasoning and fine-grained execution. Traditional task and motio…
Keypose Exploration: Efficient Automatic Trajectory Labelling and Cross-Embodiment Policy Transfer
Yupu Lu, Hang Xu, Yizhou Chen +1
Keypose-based manipulation decomposes tasks into critical waypoints to simplify policy learning for long-horizon tasks, but existing approaches rely on task-specific heuristics or…
IR-SIM: A Lightweight Declarative Simulator for Navigation Learning and Benchmarking
Ruihua Han, Shuai Wang, Chengyang Li +8
Developing navigation policies requires simulation scenarios that support repeatable training and evaluation. Despite the availability of numerous simulators, constructing diverse…
Unveiling the Entropy Dynamics of Chain-of-Thought Reasoning
Ting Xu, Xu He, Yupu Lu +4
This paper investigates the entropy dynamics of Chain-of-Thought (CoT) and uncovers a consistent two-phase structure: an Uncertainty Region of exploration transitioning sharply to…
Shared Autonomy Assisted by Impedance-Driven Anisotropic Guidance Field
Sihan Chen, Hang Xu, Yupu Lu +4
Shared autonomy (SA) enables robots to infer human intent and assist in its achievement. While most research focuses on improving intent inference, it overlooks whether humans can…
RichMap: A Reachability Map Balancing Precision, Efficiency, and Flexibility for Rich Robot Manipulation Tasks
Yupu Lu, Yuxiang Ma, Jia Pan
This paper presents RichMap, a high-precision reachability map representation designed to balance efficiency and flexibility for versatile robot manipulation tasks. By refining the…
Lyapunov Stability Learning with Nonlinear Control via Inductive Biases
Yupu Lu, Shijie Lin, Hao Xu +2
Finding a control Lyapunov function (CLF) in a dynamical system with a controller is an effective way to guarantee stability, which is a crucial issue in safety-concerned applicati…
ModLaNets: Learning Generalisable Dynamics via Modularity and Physical Inductive Bias
Yupu Lu, Shijie Lin, Guanqi Chen +1
Deep learning models are able to approximate one specific dynamical system but struggle at learning generalisable dynamics, where dynamical systems obey the same laws of physics bu…
Jarvis for Aeroengine Analytics: A Speech Enhanced Virtual Reality Demonstrator Based on Mining Knowledge Databases
Sławomir Konrad Tadeja, Krzysztof Kutt, Yupu Lu +3
In this paper, we present a Virtual Reality (VR) based environment where the engineer interacts with incoming data from a fleet of aeroengines. This data takes the form of 3D compu…
PhotoTwinVR: An Immersive System for Manipulation, Inspection and Dimension Measurements of the 3D Photogrammetric Models of Real-Life Structures in Virtual Reality
Slawomir Konrad Tadeja, Wojciech Rydlewicz, Yupu Lu +3
Photogrammetry is a science dealing with obtaining reliable information about physical objects using their imagery description. Recent advancements in the development of Virtual Re…