3 citations · 7 across the 19 of their papers we have counts for
20 papers
BrickSim: A Physics-Based Simulator for Manipulating Interlocking Brick Assemblies
Haowei Wen, Ruixuan Liu, Weiyi Piao +2
Interlocking brick assemblies provide a standardized yet challenging testbed for contact-rich and long-horizon robotic manipulation, but existing rigid-body simulators do not faith…
Prompt-to-Product: Generative Assembly via Bimanual Manipulation
Ruixuan Liu, Philip Huang, Ava Pun +8
Creating assembly products demands significant manual effort and expert knowledge in 1) designing the assembly and 2) constructing the product. This paper introduces Prompt-to-Prod…
Generating Physically Stable and Buildable Brick Structures from Text
Ava Pun, Kangle Deng, Ruixuan Liu +3
We introduce BrickGPT, the first approach for generating physically stable interconnecting brick assembly models from text prompts. To achieve this, we construct a large-scale, phy…
Hierarchical Temporal Logic Task and Motion Planning for Multi-Robot Systems
Zhongqi Wei, Xusheng Luo, Changliu Liu
Task and motion planning (TAMP) for multi-robot systems, which integrates discrete task planning with continuous motion planning, remains a challenging problem in robotics. Existin…
Eye-in-Finger: Smart Fingers for Delicate Assembly and Disassembly of LEGO
Zhenran Tang, Ruixuan Liu, Changliu Liu
Manipulation and insertion of small and tight-toleranced objects in robotic assembly remain a critical challenge for vision-based robotics systems due to the required precision and…
APEX-MR: Multi-Robot Asynchronous Planning and Execution for Cooperative Assembly
Philip Huang, Ruixuan Liu, Shobhit Aggarwal +2
Compared to a single-robot workstation, a multi-robot system offers several advantages: 1) it expands the system's workspace, 2) improves task efficiency, and, more importantly, 3)…
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 Safe Control of Neural Network Dynamic Models with Sound Approximation
Hanjiang Hu, Jianglin Lan, Changliu Liu
Safe control of neural network dynamic models (NNDMs) is important to robotics and many applications. However, it remains challenging to compute an optimal safe control in real tim…
Meta-Control: Automatic Model-based Control Synthesis for Heterogeneous Robot Skills
Tianhao Wei, Liqian Ma, Rui Chen +2
The requirements for real-world manipulation tasks are diverse and often conflicting; some tasks require precise motion while others require force compliance; some tasks require av…
Optimizing Multi-Touch Textile and Tactile Skin Sensing Through Circuit Parameter Estimation
Bo Ying Su, Yuchen Wu, Chengtao Wen +1
Tactile and textile skin technologies have become increasingly important for enhancing human-robot interaction and allowing robots to adapt to different environments. Despite notab…
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…
Simultaneous Task Allocation and Planning for Multi-Robots under Hierarchical Temporal Logic Specifications
Xusheng Luo, Changliu Liu
Research in robotic planning with temporal logic specifications, such as Linear Temporal Logic (LTL), has relied on single formulas. However, as task complexity increases, LTL form…
Learning Predictive Safety Filter via Decomposition of Robust Invariant Set
Zeyang Li, Chuxiong Hu, Weiye Zhao +1
Ensuring safety of nonlinear systems under model uncertainty and external disturbances is crucial, especially for real-world control tasks. Predictive methods such as robust model…
Synthesis and verification of robust-adaptive safe controllers
Simin Liu, Kai S. Yun, John M. Dolan +1
Safe control with guarantees generally requires the system model to be known. It is far more challenging to handle systems with uncertain parameters. In this paper, we propose a ge…
Absolute Policy Optimization
Weiye Zhao, Feihan Li, Yifan Sun +3
In recent years, trust region on-policy reinforcement learning has achieved impressive results in addressing complex control tasks and gaming scenarios. However, contemporary state…
Robust Safe Control with Multi-Modal Uncertainty
Tianhao Wei, Liqian Ma, Ravi Pandya +1
Safety in dynamic systems with prevalent uncertainties is crucial. Current robust safe controllers, designed primarily for uni-modal uncertainties, may be either overly conservativ…
Simulation-aided Learning from Demonstration for Robotic LEGO Construction
Ruixuan Liu, Alan Chen, Xusheng Luo +1
Recent advancements in manufacturing have a growing demand for fast, automatic prototyping (i.e. assembly and disassembly) capabilities to meet users' needs. This paper studies aut…
A Lightweight and Transferable Design for Robust LEGO Manipulation
Ruixuan Liu, Yifan Sun, Changliu Liu
Lego is a well-known platform for prototyping pixelized objects. However, robotic Lego prototyping (i.e., manipulating Lego bricks) is challenging due to the tight connections and…