4 citations · 5 across the 15 of their papers we have counts for
17 papers
OccluDex: Hierarchical 3D Visuo-Tactile Representation Learning for Egocentric Dexterous Manipulation under Self-Occlusion
Ziheng Xu, Yueyuan Chen, Xinyuan He +6
Reliable dexterous manipulation requires continuous estimation of object geometry and hand-object contact throughout interaction. With egocentric sensing, however, the manipulating…
Mixtac: A Novel Bio-Inspired Hybrid Tactile Sensor with Synergistic Event-Frame Perception
Yihang Li, Yijin Chen, Junkai Xu +4
Vision based and event based tactile sensors are important in robotic manipulation research. However, they suffer from a fundamental tradeoff: vision based sensors have low samplin…
Dual-Horizon Hybrid Internal Model for Low-Gravity Quadrupedal Jumping with Hardware-in-the-Loop Validation
Haozhe Xu, Yifei Zhao, Wenhao Feng +6
Locomotion under reduced gravity is commonly realized through jumping, yet continuous pronking in lunar gravity remains challenging due to prolonged flight phases and sparse ground…
Morphogenetic Assembly and Adaptive Control for Heterogeneous Modular Robots
Chongxi Meng, Da Zhao, Yifei Zhao +4
This paper presents a closed-loop automation framework for heterogeneous modular robots, covering the full pipeline from morphological construction to adaptive control. In this fra…
VO-DP: Semantic-Geometric Adaptive Diffusion Policy for Vision-Only Robotic Manipulation
Zehao Ni, Yonghao He, Lingfeng Qian +7
In the context of imitation learning, visuomotor-based diffusion policy learning is one of the main directions in robotic manipulation. Most of these approaches rely on point cloud…
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…
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…
Autonomous UAV-Quadruped Docking in Complex Terrains via Active Posture Alignment and Constraint-Aware Control
Haozhe Xu, Cheng Cheng, Hongrui Sang +4
Autonomous docking between Unmanned Aerial Vehicles (UAVs) and ground robots is essential for heterogeneous systems, yet most existing approaches target wheeled platforms whose lim…
A Tactile-based Interactive Motion Planner for Robots in Unknown Cluttered Environments
Chengjin Wang, Yanmin Zhou, Zheng Yan +5
In unknown cluttered environments with densely stacked objects, the free-motion space is extremely barren, posing significant challenges to motion planners. Collision-free planning…
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…
Kaiwu: A Multimodal Manipulation Dataset and Framework for Robot Learning and Human-Robot Interaction
Shuo Jiang, Haonan Li, Ruochen Ren +3
Cutting-edge robot learning techniques including foundation models and imitation learning from humans all pose huge demands on large-scale and high-quality datasets which constitut…
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…
Safety Control of Service Robots with LLMs and Embodied Knowledge Graphs
Yong Qi, Gabriel Kyebambo, Siyuan Xie +6
Safety limitations in service robotics across various industries have raised significant concerns about the need for robust mechanisms ensuring that robots adhere to safe practices…
Trust Recognition in Human-Robot Cooperation Using EEG
Caiyue Xu, Changming Zhang, Yanmin Zhou +3
Collaboration between humans and robots is becoming increasingly crucial in our daily life. In order to accomplish efficient cooperation, trust recognition is vital, empowering rob…
A Survey on Robotic Manipulation of Deformable Objects: Recent Advances, Open Challenges and New Frontiers
Feida Gu, Yanmin Zhou, Zhipeng Wang +2
Deformable object manipulation (DOM) for robots has a wide range of applications in various fields such as industrial, service and health care sectors. However, compared to manipul…
Robot Learning in the Era of Foundation Models: A Survey
Xuan Xiao, Jiahang Liu, Zhipeng Wang +5
The proliferation of Large Language Models (LLMs) has s fueled a shift in robot learning from automation towards general embodied Artificial Intelligence (AI). Adopting foundation…
Synthetic IMU Datasets and Protocols Can Simplify Fall Detection Experiments and Optimize Sensor Configuration
Jie Tang, Bin He, Junkai Xu +4
Falls represent a significant cause of injury among the elderly population. Extensive research has been devoted to the utilization of wearable IMU sensors in conjunction with machi…