6 papers · 1 filter
Robustifying Long-term Human-Robot Collaboration through a Multimodal and Hierarchical Framework
Peiqi Yu, Abulikemu Abuduweili, Ruixuan Liu +1
Long-term Human-Robot Collaboration (HRC) is crucial for enabling flexible manufacturing systems and integrating companion robots into daily human environments over extended period…
Automating Robot Failure Recovery Using Vision-Language Models With Optimized Prompts
Hongyi Chen, Yunchao Yao, Ruixuan Liu +2
Current robot autonomy struggles to operate beyond the assumed Operational Design Domain (ODD), the specific set of conditions and environments in which the system is designed to f…
Physics-Aware Combinatorial Assembly Sequence Planning using Data-free Action Masking
Ruixuan Liu, Alan Chen, Weiye Zhao +1
Combinatorial assembly uses standardized unit primitives to build objects that satisfy user specifications. This paper studies assembly sequence planning (ASP) for physical combina…
Nl2Hltl2Plan: Scaling Up Natural Language Understanding for Multi-Robots Through Hierarchical Temporal Logic Task Representation
Shaojun Xu, Xusheng Luo, Yutong Huang +3
To enable non-experts to specify long-horizon, multi-robot collaborative tasks, language models are increasingly used to translate natural language commands into formal specificati…
Real-time Safety Index Adaptation for Parameter-varying Systems via Determinant Gradient Ascend
Rui Chen, Weiye Zhao, Ruixuan Liu +2
Safety Index Synthesis (SIS) is critical for deriving safe control laws. Recent works propose to synthesize a safety index (SI) via nonlinear programming and derive a safe control…
StableLego: Stability Analysis of Block Stacking Assembly
Ruixuan Liu, Kangle Deng, Ziwei Wang +1
Structural stability is a necessary condition for successful construction of an assembly. However, designing a stable assembly requires a non-trivial effort since a slight variatio…