7 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…
Self-Shielded Multigroup Microscopic Cross Section Generation Using Targeted Artificial Neural Networks
Joshua Nichols, Andrew Osborne, Ben Whewell +1
Multigroup neutron transport models are used widely in simulation codes due to their memory and compute efficiency compared to continuous energy methods. However, multigroup codes…
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…
Contingency Planning for Safety-Critical Autonomous Vehicles: A Review and Perspectives
Lei Zheng, Luyao Zhang, Peiqi Yu +4
Contingency planning is the architectural capability that enables autonomous vehicles (AVs) to anticipate and mitigate discrete, high-impact hazards, such as sensor outages and adv…