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cs.RO2026
Enabling Robust Cloth Manipulation via Inference-Time Simulator-in-the-Loop Refinement
Xin Liu, Yulin Li, Ziming Li +7
Simulator-in-the-loop optimization offers a promising inference-time mechanism for robot manipulation. It uses a physical simulator as a backend rollout engine to evaluate candidat…
cs.RO2025
One-Step Model Predictive Path Integral for Manipulator Motion Planning Using Configuration Space Distance Fields
Yulin Li, Tetsuro Miyazaki, Kenji Kawashima
Motion planning for robotic manipulators is a fundamental problem in robotics. Classical optimization-based methods typically rely on the gradients of signed distance fields (SDFs)…
cs.RO2024
S-RRT*-based Obstacle Avoidance Autonomous Motion Planner for Continuum-rigid Manipulator
Yulin Li, Tetsuro Miyazaki, Yoshiki Yamamoto +1
Continuum robots are compact and flexible, making them suitable for use in the industries and in medical surgeries. Rapidly-exploring random trees (RRT) are a highly efficient path…