7 papers
HAFO: A Force-Adaptive Control Framework for Humanoid Robots in Intense Interaction Environments
Chenhui Dong, Haozhe Xu, Wenhao Feng +4
Reinforcement learning (RL) controllers have made impressive progress in humanoid locomotion and light-weight object manipulation. However, achieving robust and precise motion cont…
PaiP: An Operational Aware Interactive Planner for Unknown Cabinet Environments
Chengjin Wang, Zheng Yan, Yanmin Zhou +4
Box/cabinet scenarios with stacked objects pose significant challenges for robotic motion due to visual occlusions and constrained free space. Traditional collision-free trajectory…
Language-Guided Long Horizon Manipulation with LLM-based Planning and Visual Perception
Changshi Zhou, Haichuan Xu, Ningquan Gu +7
Language-guided long-horizon manipulation of deformable objects presents significant challenges due to high degrees of freedom, complex dynamics, and the need for accurate vision-l…
Learning Efficient Robotic Garment Manipulation with Standardization
Changshi Zhou, Feng Luan, Jiarui Hu +5
Garment manipulation is a significant challenge for robots due to the complex dynamics and potential self-occlusion of garments. Most existing methods of efficient garment unfoldin…
PAGNet: Pluggable Adaptive Generative Networks for Information Completion in Multi-Agent Communication
Zhuohui Zhang, Bin Cheng, Zhipeng Wang +5
For partially observable cooperative tasks, multi-agent systems must develop effective communication and understand the interplay among agents in order to achieve cooperative goals…
SSFold: Learning to Fold Arbitrary Crumpled Cloth Using Graph Dynamics from Human Demonstration
Changshi Zhou, Haichuan Xu, Jiarui Hu +5
Robotic cloth manipulation faces challenges due to the fabric's complex dynamics and the high dimensionality of configuration spaces. Previous methods have largely focused on isola…