5 citations · 10 across the 28 of their papers we have counts for
13 papers · 1 filter
PACER: Process-Aware VLA Policy Learning from Human Corrections for Robotic Disassembly
Chang Liu, Sibo Tian, Litian Gong +4
Robotic disassembly of end-of-life (EoL) products requires robots to accommodate product variation, follow prerequisite sequences, and approach components precisely for contact-ric…
RoboIRS: Inference-Time Internal Representation Steering for Generalist Robot Policies
Jiuzhou Lei, Chang Liu, Dayou Li +5
Vision-language-action (VLA) and world-action models (WAMs) often degrade under out-of-distribution task variations despite retaining partial task capability. To recover such capab…
PHR-VLA: Planning Horizon Reasoning for Vision-Language-Action Models
Davood Soleymanzadeh, Kaidi Zhang, Zhiyuan Zhang +4
Vision-language-action models (VLAs) have shown strong promise for general-purpose robotic manipulation by mapping language instructions and vision observations directly to actions…
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…
Transforming Remanufacturing Automation with Large Language Models: A Forward-Looking Analysis with Case Studies
Chang Liu, Sara Behdad, Prabhakar Pagilla +2
With growing concerns about resource scarcity and environmental degradation, remanufacturing of end-of-life (EoL) products within the circular economy is attracting increasing atte…
Constrained MPC-Based Motion Planning for Morphing Quadrotors in Ultra-Narrow Passages under Limited Perception
Harsh Modi, Xiao Liang, Minghui Zheng
This paper introduces a motion planning framework to plan morphology and trajectory for morphing quadrotors under extremely constrained environments. We develop a novel obstacle av…
Redefining End-of-Life: Intelligent Automation for Electronics Remanufacturing Systems
Sibo Tian, Xiao Liang, Sara Behdad +1
Remanufacturing is fundamentally more challenging than traditional manufacturing due to the significant uncertainty, variability, and incompleteness inherent in end-of-life (EoL) p…
Learning When to See and When to Feel: Adaptive Vision-Torque Fusion for Contact-Aware Manipulation
Jiuzhou Lei, Chang Liu, Yu She +2
Vision-based policies have achieved a good performance in robotic manipulation due to the accessibility and richness of visual observations. However, purely visual sensing becomes…
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.…
TATIC: Task-Aware Temporal Learning for Human Intent Inference from Physical Corrections in Human-Robot Collaboration
Jiurun Song, Xiao Liang, Minghui Zheng
In human-robot collaboration (HRC), robots must adapt online to dynamic task constraints and evolving human intent. While physical corrections provide a natural, low-latency channe…
DRAFTO: Decoupled Reduced-space and Adaptive Feasibility-repair Trajectory Optimization for Robotic Manipulators
Yichang Feng, Xiao Liang, Minghui Zheng
This paper introduces a new algorithm for trajectory optimization, Decoupled Reduced-space and Adaptive Feasibility-repair Trajectory Optimization (DRAFTO). It first constructs a c…
GAIDE: Graph-based Attention Masking for Spatial- and Embodiment-aware Motion Planning
Davood Soleymanzadeh, Xiao Liang, Minghui Zheng
Sampling-based motion planning algorithms are widely used for motion planning of robotic manipulators, but they often struggle with sample inefficiency in high-dimensional configur…
FACTO: Function-space Adaptive Constrained Trajectory Optimization for Robotic Manipulators
Yichang Feng, Xiao Liang, Minghui Zheng
This paper introduces Function-space Adaptive Constrained Trajectory Optimization (FACTO), a new trajectory optimization algorithm for both single- and multi-arm manipulators. Traj…