29 citations · 32 across the 5 of their papers we have counts for
5 papers
WebArena: A Realistic Web Environment for Building Autonomous Agents
Shuyan Zhou, Frank F. Xu, Hao Zhu +9
With advances in generative AI, there is now potential for autonomous agents to manage daily tasks via natural language commands. However, current agents are primarily created and…
Enhancing Dexterity in Robotic Manipulation via Hierarchical Contact Exploration
Xianyi Cheng, Sarvesh Patil, Zeynep Temel +2
Planning robot dexterity is challenging due to the non-smoothness introduced by contacts, intricate fine motions, and ever-changing scenarios. We present a hierarchical planning fr…
Learning Preconditions of Hybrid Force-Velocity Controllers for Contact-Rich Manipulation
Jacky Liang, Xianyi Cheng, Oliver Kroemer
Robots need to manipulate objects in constrained environments like shelves and cabinets when assisting humans in everyday settings like homes and offices. These constraints make ma…
Contact Mode Guided Motion Planning for Quasidynamic Dexterous Manipulation in 3D
Xianyi Cheng, Eric Huang, Yifan Hou +1
This paper presents Contact Mode Guided Manipulation Planning (CMGMP) for 3D quasistatic and quasidynamic rigid body motion planning in dexterous manipulation. The CMGMP algorithm…
Contact Mode Guided Sampling-Based Planning for Quasistatic Dexterous Manipulation in 2D
Xianyi Cheng, Eric Huang, Yifan Hou +1
The discontinuities and multi-modality introduced by contacts make manipulation planning challenging. Many previous works avoid this problem by pre-designing a set of high-level mo…