9 papers · 1 filter
Manifold Generative Annealing for Contact Constraint-aware Impedance Control with Reinforcement Learning Prior
Zhilin He, Guoquan Qi, Changliu Liu
Contact-rich robotic tasks require coordinated motion and impedance under uncertain interaction dynamics and physical constraints. While recent methods on learned policies provide…
ARSTAG: An Agentic Real2Sim2Real System for Task-Specific Robot Data Generation
Bowei Li, Yuner Zhang, Changliu Liu
Adapting visuomotor policies to new manipulation tasks often requires substantial manual engineering or teleoperated data collection. Simulation can provide task-specific data at s…
ManiSkillFormer: Demonstration-Free Compositional Manipulation via Geometric Contracts and Agentic Skill Graph
Peiqi Yu, Mosam Dabhi, Shangtao Li +3
Adapting robotic manipulation to new objects and tasks often requires additional demonstrations or manual engineering. Reusable manipulation skills can reduce this effort, but adap…
Motion Planning with Model-Based Diffusion via Constraint Optimization and Adaptive Scheduling
Zhilin He, Bowei Li, Jianlin Dou +2
Single-Robot Motion Planning (SRMP) in highly non-convex constrained environments, where robots must satisfy collision-free guarantees, dynamic feasibility, and task-related constr…
BrickCraft: Visuomotor Skill Composition with Situated Manual Guidance for Long-Horizon Interlocking Brick Assembly
Jichuan Yu, Bowei Li, Zhenran Tang +4
Autonomous robotic assembly of interlocking bricks demands seamless integration of long-horizon task reasoning, spatial grounding, and fine-grained manipulation. This paper present…
NeSyPack: A Neuro-Symbolic Framework for Bimanual Logistics Packing
Bowei Li, Peiqi Yu, Zhenran Tang +4
This paper presents NeSyPack, a neuro-symbolic framework for bimanual logistics packing. NeSyPack combines data-driven models and symbolic reasoning to build an explainable hierarc…
Dexterous Safe Control for Humanoids in Cluttered Environments via Projected Safe Set Algorithm
Rui Chen, Yifan Sun, Changliu Liu
It is critical to ensure safety for humanoid robots in real-world applications without compromising performance. In this paper, we consider the problem of dexterous safety, featuri…
SPARK: Safe Protective and Assistive Robot Kit
Yifan Sun, Rui Chen, Kai S. Yun +6
This paper introduces the Safe Protective and Assistive Robot Kit (SPARK), a comprehensive benchmark designed to ensure safety in humanoid autonomy and teleoperation. Humanoid robo…
Constrained Bandwidth Observation Sharing for Multi-Robot Navigation in Dynamic Environments via Intelligent Knapsack
Anirudh Chari, Rui Chen, Han Zheng +1
Multi-robot navigation is increasingly crucial in various domains, including disaster response, autonomous vehicles, and warehouse and manufacturing automation. Robot teams often m…