5 papers
Monte Carlo Tree Search with Tensor Factorization for Optimization Problems in Robotics
Teng Xue, Yan Zhang, Amirreza Razmjoo +1
Many robotic tasks, such as inverse kinematics, motion planning, and contact-rich manipulation, can be formulated as optimization problems. Solving these problems requires addressi…
PAIWorld: A 3D-Consistent World Foundation Model for Robotic Manipulation
Yuhang Huang, Xuan Lv, Junyan Xu +25
World foundation models (WFMs) are powerful simulators, yet they predominantly operate in a single-view setting and lack the multi-view 3D consistency required for robotic manipula…
Physics-Informed Eikonal Caging for Whole-Arm Manipulation Planning
Yan Zhang, Yiming Li, Yifei Dong +2
Planning contact-rich whole-arm manipulation is challenging because interactions that involve extended robot geometry give rise to complex contact dynamics that are difficult to mo…
Learn2Decompose: Learning Problem Decomposition for Efficient Sequential Multi-object Manipulation Planning
Yan Zhang, Teng Xue, Amirreza Razmjoo +1
We present an efficient task and motion replanning approach for sequential multi-object manipulation in dynamic environments. Conventional Task And Motion Planning (TAMP) solvers e…
Robustness-Aware Tool Selection and Manipulation Planning with Learned Energy-Informed Guidance
Yifei Dong, Yan Zhang, Sylvain Calinon +1
Humans subconsciously choose robust ways of selecting and using tools, for example, choosing a ladle over a flat spatula to serve meatballs. However, robustness under external dist…