11 papers · 1 filter
NeurRAFT: Robot Motion Planning via Anchor-Level Flow Matching with Clearance-Aware Preference Tuning
Sibo Tian, Chang Liu, Minghui Zheng +1
Recent end-to-end neural motion planners generate trajectories from raw sensor observations, avoiding the privileged geometric models required by classical planners. However, colli…
SELF-VLA: A Skill Enhanced Agentic Vision-Language-Action Framework for Contact-Rich Disassembly
Chang Liu, Sibo Tian, Xiao Liang +1
Disassembly automation has long been pursued to address the growing demand for efficient and proper recovery of valuable components from the end-of-life (EoL) electronic products.…
PrediFlow: A Flow-Based Prediction-Refinement Framework for Real-Time Human Motion Prediction in Human-Robot Collaboration
Sibo Tian, Minghui Zheng, Xiao Liang
Stochastic human motion prediction is critical for safe and effective human-robot collaboration (HRC) in industrial remanufacturing, as it captures human motion uncertainties and m…
Vision-Language-Action Models for Selective Robotic Disassembly: A Case Study on Critical Component Extraction from Desktops
Chang Liu, Sibo Tian, Sara Behdad +2
Automating disassembly of critical components from end-of-life (EoL) desktops, such as high-value items like RAM modules and CPUs, as well as sensitive parts like hard disk drives,…
Warm-Starting Optimization-Based Motion Planning for Robotic Manipulators via Point Cloud-Conditioned Flow Matching
Sibo Tian, Minghui Zheng, Xiao Liang
Rapid robot motion generation is critical in Human-Robot Collaboration (HRC) systems, as robots need to respond to dynamic environments in real time by continuously observing their…
Grasping Force Control and Adaptation for a Cable-Driven Robotic Hand
Eric Mountain, Ean Weise, Sibo Tian +3
This paper introduces a unique force control and adaptation algorithm for a lightweight and low-complexity five-fingered robotic hand, namely an Integrated-Finger Robotic Hand (IFR…