6 papers
Think Proprioceptively: State-Grounded Visual Token Selection for VLA Policies
Fangyuan Wang, Peng Zhou, Jiaming Qi +4
Vision-language-action (VLA) models typically inject proprioception only as a late conditioning signal, preventing robot state from grounding instruction understanding or directing…
Non-Prehensile Tool-Object Manipulation by Integrating LLM-Based Planning and Manoeuvrability-Driven Controls
Hoi-Yin Lee, Peng Zhou, Anqing Duan +3
The ability to wield tools was once considered exclusive to human intelligence, but it's now known that many other animals, like crows, possess this capability. Yet, robotic system…
BagIt! An Adaptive Dual-Arm Manipulation of Fabric Bags for Object Bagging
Peng Zhou, Jiaming Qi, Hongmin Wu +3
Bagging tasks, commonly found in industrial scenarios, are challenging considering deformable bags' complicated and unpredictable nature. This paper presents an automated bagging s…
Instruction-Augmented Long-Horizon Planning: Embedding Grounding Mechanisms in Embodied Mobile Manipulation
Fangyuan Wang, Shipeng Lyu, Peng Zhou +3
Enabling humanoid robots to perform long-horizon mobile manipulation planning in real-world environments based on embodied perception and comprehension abilities has been a longsta…
Iterative Shaping of Multi-Particle Aggregates based on Action Trees and VLM
Hoi-Yin Lee, Peng Zhou, Anqing Duan +2
In this paper, we address the problem of manipulating multi-particle aggregates using a bimanual robotic system. Our approach enables the autonomous transport of dispersed particle…
Bimanual Deformable Bag Manipulation Using a Structure-of-Interest Based Neural Dynamics Model
Peng Zhou, Pai Zheng, Jiaming Qi +5
The manipulation of deformable objects by robotic systems presents a significant challenge due to their complex and infinite-dimensional configuration spaces. This paper introduces…