5 papers
Hypothesis-driven Model Expansion under Uncertainty for Open-World Robot Planning
Anxing Xiao, Hanbo Zhang, Tianrun Hu +1
We consider an open-world planning setting in which service robots must operate in unknown environments with incomplete knowledge of objects and actions. Traditional closed-world a…
Visibility-Aware Mobile Grasping in Dynamic Environments
Tianrun Hu, Anxing Xiao, David Hsu +1
This paper addresses the problem of mobile grasping in dynamic, unknown environments where a robot must operate under a limited field-of-view. The fundamental challenge is the inhe…
MimicFunc: Imitating Tool Manipulation from a Single Human Video via Functional Correspondence
Chao Tang, Anxing Xiao, Yuhong Deng +5
Imitating tool manipulation from human videos offers an intuitive approach to teaching robots, while also providing a promising and scalable alternative to labor-intensive teleoper…
Robot Operation of Home Appliances by Reading User Manuals
Jian Zhang, Hanbo Zhang, Anxing Xiao +1
Operating home appliances, among the most common tools in every household, is a critical capability for assistive home robots. This paper presents ApBot, a robot system that operat…
FUNCTO: Function-Centric One-Shot Imitation Learning for Tool Manipulation
Chao Tang, Anxing Xiao, Yuhong Deng +5
Learning tool use from a single human demonstration video offers a highly intuitive and efficient approach to robot teaching. While humans can effortlessly generalize a demonstrate…