2 citations · 2 across the 9 of their papers we have counts for
10 papers
Trajectory Planning without Trajectory Data: A Manifold-Guided Approach
Silong Yong, Anji Liu, Cunxi Dai +5
A common way for trajectory planning is to leverage generative models trained on large collections of expert trajectories. At inference time, the model generates executable traject…
ENPIRE: Agentic Robot Policy Self-Improvement in the Real World
Wenli Xiao, Jia Xie, Tonghe Zhang +14
Achieving dexterous robotic manipulation in the real world heavily relies on human supervision and algorithm engineering, which becomes a central bottleneck in the pursuit of gener…
PGDG: Physically Grounded Data Generation for Robust Bimanual Policy Learning from a Single Demonstration
Cunxi Dai, Haoran Chang, Aditya Nisal +5
Behavior cloning for contact-rich bimanual manipulation remains challenging because diverse demonstrations are expensive to collect, and even small disturbances can push the system…
pySpatial: Generating 3D Visual Programs for Zero-Shot Spatial Reasoning
Zhanpeng Luo, Ce Zhang, Silong Yong +6
Multi-modal Large Language Models (MLLMs) have demonstrated strong capabilities in general-purpose perception and reasoning, but they still struggle with tasks that require spatial…
BFM-Zero: A Promptable Behavioral Foundation Model for Humanoid Control Using Unsupervised Reinforcement Learning
Yitang Li, Zhengyi Luo, Tonghe Zhang +10
Building Behavioral Foundation Models (BFMs) for humanoid robots has the potential to unify diverse control tasks under a single, promptable generalist policy. However, existing ap…
Wallbounce : Push wall to navigate with Contact-Implicit MPC
Xiaohan Liu, Cunxi Dai, John Z. Zhang +3
In this work, we introduce a framework that enables highly maneuverable locomotion using non-periodic contacts. This task is challenging for traditional optimization and planning m…
Ubiquitous Field Transportation Robots with Robust Wheel-Leg Transformable Modules
Haoran Wang, Cunxi Dai, Siyuan Wang +6
This paper introduces two field transportation robots. Both robots are equipped with transformable wheel-leg modules, which can smoothly switch between operation modes and can work…
Interactive Navigation with Adaptive Non-prehensile Mobile Manipulation
Cunxi Dai, Xiaohan Liu, Koushil Sreenath +2
This paper introduces a framework for interactive navigation through adaptive non-prehensile mobile manipulation. A key challenge in this process is handling objects with unknown d…
Wheelchair Maneuvering with a Single-Spherical-Wheeled Balancing Mobile Manipulator
Cunxi Dai, Xiaohan Liu, Roberto Shu +1
In this work, we present a control framework to effectively maneuver wheelchairs with a dynamically stable mobile manipulator. Wheelchairs are a type of nonholonomic cart system, m…
SWheg: A Wheel-Leg Transformable Robot With Minimalist Actuator Realization
Cunxi Dai, Xiaohan Liu, Jianxiang Zhou +2
This article presents the design, implementation, and performance evaluation of SWheg, a novel modular wheel-leg transformable robot family with minimalist actuator realization. SW…