1 citations · 2 across the 11 of their papers we have counts for
5 papers · 1 filter
Neuro-Symbolic Predicate Learning for Semantic Safe Robot Control
Zihan Ye, Jiayi Liu, Puze Liu +4
As robots are increasingly deployed in everyday environments, ensuring their safety has become a central challenge. Existing methods often encode safety requirements as opaque math…
Contact-Rich Motion Planning via GPU-Parallel Mode Evaluation
Jiayun Li, Georgia Chalvatzaki
Contact-rich motion planning (CRMP) is essential for robotic manipulation and locomotion, yet remains computationally challenging due to combinatorial contact decisions. Existing m…
Globalized Constrained Stein Variational Inference for Diverse Feasible Robot Motion Planning
Jiayun Li, Georgia Chalvatzaki
Robot motion planning is inherently multimodal, yet classical planners typically return only a single solution. Probabilistic formulations address this limitation by maintaining a…
IMPACT: An Implicit Active-Set Augmented Lagrangian for Fast Contact-Implicit Trajectory Optimization
Jiayun Li, Dejian Gong, Georgia Chalvatzaki
Contact-implicit trajectory optimization (CITO) has attracted growing attention as a unified framework for planning and control in contact-rich robotic tasks. Recent approaches hav…
Stein Variational Ergodic Surface Coverage with SE(3) Constraints
Jiayun Li, Yufeng Jin, Sangli Teng +2
Surface manipulation tasks require robots to generate trajectories that comprehensively cover complex 3D surfaces while maintaining precise end-effector poses. Existing ergodic tra…