77 citations · 163 across the 24 of their papers we have counts for
25 papers
Temporal Logic Guided Universal Task Representations for Reinforcement Learning
Hao Zhang, Zhangli Zhou, Zhen Kan
Task guided agents demonstrate strong performance in a wide range of complex tasks. However, most existing task representation algorithms are tailored to specific contexts and stru…
Kilohertz-Safe: A Scalable Framework for Constrained Dexterous Retargeting
Yinxiao Tian, Ziyi Yang, Zinan Zhao +1
Dexterous hand teleoperation requires motion re-targeting methods that simultaneously achieve high-frequency real-time performance and enforcement of heterogeneous kinematic and sa…
A Novel Task-Driven Diffusion-Based Policy with Affordance Learning for Generalizable Manipulation of Articulated Objects
Hao Zhang, Zhen Kan, Weiwei Shang +1
Despite recent advances in dexterous manipulations, the manipulation of articulated objects and generalization across different categories remain significant challenges. To address…
Exploiting Hybrid Policy in Reinforcement Learning for Interpretable Temporal Logic Manipulation
Hao Zhang, Hao Wang, Xiucai Huang +2
Reinforcement Learning (RL) based methods have been increasingly explored for robot learning. However, RL based methods often suffer from low sampling efficiency in the exploration…
WorldAfford: Affordance Grounding based on Natural Language Instructions
Changmao Chen, Yuren Cong, Zhen Kan
Affordance grounding aims to localize the interaction regions for the manipulated objects in the scene image according to given instructions. A critical challenge in affordance gro…
Lightweight Neural Path Planning
Jinsong Li, Shaochen Wang, Ziyang Chen +2
Learning-based path planning is becoming a promising robot navigation methodology due to its adaptability to various environments. However, the expensive computing and storage asso…
Vision-Based Reactive Planning and Control of Quadruped Robots in Unstructured Dynamic Environments
Tangyu Qian, Zhangli Zhou, Shaocheng Wang +3
Quadruped robots have received increasing attention for the past few years. However, existing works primarily focus on static environments or assume the robot has full observations…
A Nested U-Structure for Instrument Segmentation in Robotic Surgery
Yanjie Xia, Shaochen Wang, Zhen Kan
Robot-assisted surgery has made great progress with the development of medical imaging and robotics technology. Medical scene understanding can greatly improve surgical performance…
Model-free Motion Planning of Autonomous Agents for Complex Tasks in Partially Observable Environments
Junchao Li, Mingyu Cai, Zhen Kan +1
Motion planning of autonomous agents in partially known environments with incomplete information is a challenging problem, particularly for complex tasks. This paper proposes a mod…
TODE-Trans: Transparent Object Depth Estimation with Transformer
Kang Chen, Shaochen Wang, Beihao Xia +3
Transparent objects are widely used in industrial automation and daily life. However, robust visual recognition and perception of transparent objects have always been a major chall…
A Robotic Visual Grasping Design: Rethinking Convolution Neural Network with High-Resolutions
Zhangli Zhou, Shaochen Wang, Ziyang Chen +2
High-resolution representations are important for vision-based robotic grasping problems. Existing works generally encode the input images into low-resolution representations via s…
Exploiting Transformer in Sparse Reward Reinforcement Learning for Interpretable Temporal Logic Motion Planning
Hao Zhang, Hao Wang, Zhen Kan
Automaton based approaches have enabled robots to perform various complex tasks. However, most existing automaton based algorithms highly rely on the manually customized representa…
What You See is What You Grasp: User-Friendly Grasping Guided by Near-eye-tracking
Shaochen Wang, Wei Zhang, Zhangli Zhou +5
This work presents a next-generation human-robot interface that can infer and realize the user's manipulation intention via sight only. Specifically, we develop a system that integ…
Temporal Logic Guided Motion Primitives for Complex Manipulation Tasks with User Preferences
Hao Wang, Haoyuan He, Weiwei Shang +1
Dynamic movement primitives (DMPs) are a flexible trajectory learning scheme widely used in motion generation of robotic systems. However, existing DMP-based methods mainly focus o…
When Transformer Meets Robotic Grasping: Exploits Context for Efficient Grasp Detection
Shaochen Wang, Zhangli Zhou, Zhen Kan
In this paper, we present a transformer-based architecture, namely TF-Grasp, for robotic grasp detection. The developed TF-Grasp framework has two elaborate designs making it well…
Online Motion Planning with Soft Metric Interval Temporal Logic in Unknown Dynamic Environment
Zhiliang Li, Mingyu Cai, Shaoping Xiao +1
Motion planning of an autonomous system with high-level specifications has wide applications. However, research of formal languages involving timed temporal logic is still under in…
Modular Deep Reinforcement Learning for Continuous Motion Planning with Temporal Logic
Mingyu Cai, Mohammadhosein Hasanbeig, Shaoping Xiao +2
This paper investigates the motion planning of autonomous dynamical systems modeled by Markov decision processes (MDP) with unknown transition probabilities over continuous state a…
Reinforcement Learning Based Temporal Logic Control with Soft Constraints Using Limit-deterministic Generalized Buchi Automata
Mingyu Cai, Shaoping Xiao, Zhijun Li +1
This paper studies the control synthesis of motion planning subject to uncertainties. The uncertainties are considered in robot motions and environment properties, giving rise to t…
Reinforcement Learning Based Temporal Logic Control with Maximum Probabilistic Satisfaction
Mingyu Cai, Shaoping Xiao, Baoluo Li +2
This paper presents a model-free reinforcement learning (RL) algorithm to synthesize a control policy that maximizes the satisfaction probability of linear temporal logic (LTL) spe…
Optimal Probabilistic Motion Planning with Potential Infeasible LTL Constraints
Mingyu Cai, Shaoping Xiao, Zhijun Li +1
This paper studies optimal motion planning subject to motion and environment uncertainties. By modeling the system as a probabilistic labeled Markov decision process (PL-MDP), the…
Receding Horizon Control Based Online Motion Planning with Partially Infeasible LTL Specifications
Mingyu Cai, Hao Peng, Zhijun Li +2
This work considers online optimal motion planning of an autonomous agent subject to linear temporal logic (LTL) constraints. The environment is dynamic in the sense of containing…
Navigation Function Based Decentralized Control of A Multi-Agent System with Network Connectivity Constraints
Zhen Kan, John M. Shea, Warren E. Dixon
A wide range of applications require or can benefit from collaborative behavior of a group of agents. The technical challenge addressed in this chapter is the development of a dece…
Containment Control for a Social Network with State-Dependent Connectivity
Zhen Kan, Justin Klotz, Eduardo L. Pasiliao +1
Social interactions influence our thoughts, opinions and actions. In this paper, social interactions are studied within a group of individuals composed of influential social leader…
Decentralized Rendezvous of Nonholonomic Robots with Sensing and Connectivity Constraints
Zhen Kan, Justin Klotz, Eduardo L. Pasiliao +2
A group of wheeled robots with nonholonomic constraints is considered to rendezvous at a common specified setpoint with a desired orientation while maintaining network connectivity…