1 citations · 2 across the 10 of their papers we have counts for
9 papers · 1 filter
Flow with the Force Field: Learning 3D Compliant Flow Matching Policies from Force and Demonstration-Guided Simulation Data
Tianyu Li, Yihan Li, Zizhe Zhang +1
While visuomotor policy has made advancements in recent years, contact-rich tasks still remain a challenge. Robotic manipulation tasks that require continuous contact demand explic…
Elastic Motion Policy: An Adaptive Dynamical System for Robust and Efficient One-Shot Imitation Learning
Tianyu Li, Sunan Sun, Shubhodeep Shiv Aditya +1
Behavior cloning (BC) has become a staple imitation learning paradigm in robotics due to its ease of teaching robots complex skills directly from expert demonstrations. However, BC…
Out-of-Distribution Recovery with Object-Centric Keypoint Inverse Policy for Visuomotor Imitation Learning
George Jiayuan Gao, Tianyu Li, Nadia Figueroa
We propose an object-centric recovery (OCR) framework to address the challenges of out-of-distribution (OOD) scenarios in visuomotor policy learning. Previous behavior cloning (BC)…
Constraint-Aware Intent Estimation for Dynamic Human-Robot Object Co-Manipulation
Yifei Simon Shao, Tianyu Li, Shafagh Keyvanian +3
Constraint-aware estimation of human intent is essential for robots to physically collaborate and interact with humans. Further, to achieve fluid collaboration in dynamic tasks int…
Constrained Passive Interaction Control: Leveraging Passivity and Safety for Robot Manipulators
Zhiquan Zhang, Tianyu Li, Nadia Figueroa
Passivity is necessary for robots to fluidly collaborate and interact with humans physically. Nevertheless, due to the unconstrained nature of passivity-based impedance control law…
SE(3) Linear Parameter Varying Dynamical Systems for Globally Asymptotically Stable End-Effector Control
Sunan Sun, Nadia Figueroa
Linear Parameter Varying Dynamical Systems (LPV-DS) encode trajectories into an autonomous first-order DS that enables reactive responses to perturbations, while ensuring globally…