7 papers · 1 filter
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…