7 citations · 20 across the 22 of their papers we have counts for
10 papers · 1 filter
Multi-level Reasoning for Robotic Assembly: From Sequence Inference to Contact Selection
Xinghao Zhu, Devesh K. Jha, Diego Romeres +3
Automating the assembly of objects from their parts is a complex problem with innumerable applications in manufacturing, maintenance, and recycling. Unlike existing research, which…
Interactive Planning Using Large Language Models for Partially Observable Robotics Tasks
Lingfeng Sun, Devesh K. Jha, Chiori Hori +5
Designing robotic agents to perform open vocabulary tasks has been the long-standing goal in robotics and AI. Recently, Large Language Models (LLMs) have achieved impressive result…
Control of Soft Pneumatic Actuators with Approximated Dynamical Modeling
Wu-Te Yang, Burak Kurkcu, Motohiro Hirao +5
This paper introduces a full system modeling strategy for a syringe pump and soft pneumatic actuators(SPAs). The soft actuator is conceptualized as a beam structure, utilizing a se…
Efficient Sim-to-real Transfer of Contact-Rich Manipulation Skills with Online Admittance Residual Learning
Xiang Zhang, Changhao Wang, Lingfeng Sun +3
Learning contact-rich manipulation skills is essential. Such skills require the robots to interact with the environment with feasible manipulation trajectories and suitable complia…
Human-oriented Representation Learning for Robotic Manipulation
Mingxiao Huo, Mingyu Ding, Chenfeng Xu +6
Humans inherently possess generalizable visual representations that empower them to efficiently explore and interact with the environments in manipulation tasks. We advocate that s…
Long-Term Dynamic Window Approach for Kinodynamic Local Planning in Static and Crowd Environments
Zhiqiang Jian, Songyi Zhang, Lingfeng Sun +3
Local planning for a differential wheeled robot is designed to generate kinodynamic feasible actions that guide the robot to a goal position along the navigation path while avoidin…
Adaptive Spatio-Temporal Voxels Based Trajectory Planning for Autonomous Driving in Highway Traffic Flow
Zhiqiang Jian, Songyi Zhang, Lingfeng Sun +3
Trajectory planning is crucial for the safe driving of autonomous vehicles in highway traffic flow. Currently, some advanced trajectory planning methods utilize spatio-temporal vox…
Distributed Multi-agent Interaction Generation with Imagined Potential Games
Lingfeng Sun, Pin-Yun Hung, Changhao Wang +2
Interactive behavior modeling of multiple agents is an essential challenge in simulation, especially in scenarios when agents need to avoid collisions and cooperate at the same tim…
Efficient Multi-Task and Transfer Reinforcement Learning with Parameter-Compositional Framework
Lingfeng Sun, Haichao Zhang, Wei Xu +1
In this work, we investigate the potential of improving multi-task training and also leveraging it for transferring in the reinforcement learning setting. We identify several chall…
A Simple Approach for General Task-Oriented Picking using Placing constraints
Jen-Wei Wang, Lingfeng Sun, Xinghao Zhu +2
Pick-and-place is an important manipulation task in domestic or manufacturing applications. There exist many works focusing on grasp detection with high picking success rate but la…