51 citations · 91 across the 41 of their papers we have counts for
44 papers
Collective Learning for Unified Robotic Manipulation via Predictive Dynamics Adaptation
Shaocheng Liu, Yuan Meng, Zhenshan Bing +1
Learning a collective policy for state-based Cartesian manipulation across diverse robotic embodiments presents a fundamental challenge due to embodiment-dependent transition dynam…
VT-Bridge: Bridging Pretrained Foundation VLAs to VTLAs via Lightweight Residual Adaptation
Yansong Wu, Tuo Yang, Rongping Zhao +5
Vision-Tactile-Language-Action (VTLA) models have demonstrated clear advantages over Vision-Language-Action (VLA) models in contact-rich manipulation. However, developing VTLA mode…
React When You Need To: Event-Triggered Asynchronous Inference for VLA Policies
Yansong Wu, Huaqing Li, Tianding Hou +2
Vision-Language-Action (VLA) models commonly predict action chunks, limiting their ability to react to environmental changes during execution. Existing asynchronous inference metho…
ForceDelta-VLA: Distilling Force-Conditioned ActionCorrections for Contact-Rich Manipulation
Ju Dong, Yu Fu, Jian Chen +9
Force-aware Vision-Language-Action (VLA) policies improve contact-rich manipulation, but typically combine task-level motion and contact-dependent adjustment in a single action pre…
D-SafeMPC: Diffusion-Driven Safe Model Predictive Control with Discrete-Time Control Barrier Functions
Erdi Sayar, Ersin Daş, Joel W. Burdick +2
A key limitation on the use of diffusion models in robotic planning is their inability to inherently enforce safety or dynamical constraints, which often results in physically infe…
ThorArena: Benchmarking Humanoid Physical Interaction with Human Motion-Force Demonstrations
Chenhao Yu, Hongwu Wang, Weitao Zhang +5
Humanoid robots are increasingly expected to perform contact-rich tasks that require not only accurate whole-body motion but also robust physical interaction with surrounding objec…
MOSAIC: Bridging the Sim-to-Real Gap in Generalist Humanoid Motion Tracking and Teleoperation with Rapid Residual Adaptation
Zhenguo Sun, Bo-Sheng Huang, Yibo Peng +9
Generalist humanoid motion trackers have recently achieved strong simulation metrics by scaling data and training, yet often remain brittle on hardware during sustained teleoperati…
DECO: Decoupled Multimodal Diffusion Transformer for Bimanual Dexterous Manipulation with a Plugin Tactile Adapter
Xukun Li, Yu Sun, Lei Zhang +10
Bimanual dexterous manipulation relies on integrating multimodal inputs to perform complex real-world tasks. To address the challenges of effectively combining these modalities, we…
Just in time Informed Trees: Manipulability-Aware Asymptotically Optimized Motion Planning
Kuanqi Cai, Liding Zhang, Xinwen Su +6
In high-dimensional robotic path planning, traditional sampling-based methods often struggle to efficiently identify both feasible and optimal paths in complex, multi-obstacle envi…
TacUMI: A Multi-Modal Universal Manipulation Interface for Contact-Rich Tasks
Tailai Cheng, Kejia Chen, Lingyun Chen +8
Task decomposition is critical for understanding and learning complex long-horizon manipulation tasks. Especially for tasks involving rich physical interactions, relying solely on…
OmniDexVLG: Learning Dexterous Grasp Generation from Vision Language Model-Guided Grasp Semantics, Taxonomy and Functional Affordance
Lei Zhang, Diwen Zheng, Kaixin Bai +5
Dexterous grasp generation aims to produce grasp poses that align with task requirements and human interpretable grasp semantics. However, achieving semantically controllable dexte…
DualGazeNet: A Biologically Inspired Dual-Gaze Query Network for Salient Object Detection
Yu Zhang, Haoan Ping, Yuchen Li +3
Recent salient object detection (SOD) methods aim to improve performance in four key directions: semantic enhancement, boundary refinement, auxiliary task supervision, and multi-mo…
Video-to-BT: Generating Reactive Behavior Trees from Human Demonstration Videos for Robotic Assembly
Xiwei Zhao, Yiwei Wang, Yansong Wu +5
Modern manufacturing demands robotic assembly systems with enhanced flexibility and reliability. However, traditional approaches often rely on programming tailored to each product…
Inference-stage Adaptation-projection Strategy Adapts Diffusion Policy to Cross-manipulators Scenarios
Xiangtong Yao, Yirui Zhou, Yuan Meng +7
Diffusion policies are powerful visuomotor models for robotic manipulation, yet they often fail to generalize to manipulators or end-effectors unseen during training and struggle t…
RobotDancing: Residual-Action Reinforcement Learning Enables Robust Long-Horizon Humanoid Motion Tracking
Zhenguo Sun, Yibo Peng, Yuan Meng +5
Long-horizon, high-dynamic motion tracking on humanoids remains brittle: retargeted reference motions are typically kinematically plausible but dynamically inconsistent with the ro…
M4Diffuser: Multi-View Diffusion Policy with Manipulability-Aware Control for Robust Mobile Manipulation
Ju Dong, Lei Zhang, Liding Zhang +8
Mobile manipulation requires the coordinated control of a mobile base and a robotic arm while simultaneously perceiving both global scene context and fine-grained object details. E…
Language-Enhanced Mobile Manipulation for Efficient Object Search in Indoor Environments
Liding Zhang, Zeqi Li, Kuanqi Cai +3
Enabling robots to efficiently search for and identify objects in complex, unstructured environments is critical for diverse applications ranging from household assistance to indus…
Deep Fuzzy Optimization for Batch-Size and Nearest Neighbors in Optimal Robot Motion Planning
Liding Zhang, Qiyang Zong, Yu Zhang +2
Efficient motion planning algorithms are essential in robotics. Optimizing essential parameters, such as batch size and nearest neighbor selection in sampling-based methods, can en…
Genetic Informed Trees (GIT*): Path Planning via Reinforced Genetic Programming Heuristics
Liding Zhang, Kuanqi Cai, Zhenshan Bing +2
Optimal path planning involves finding a feasible state sequence between a start and a goal that optimizes an objective. This process relies on heuristic functions to guide the sea…
APT*: Asymptotically Optimal Motion Planning via Adaptively Prolated Elliptical R-Nearest Neighbors
Liding Zhang, Sicheng Wang, Kuanqi Cai +5
Optimal path planning aims to determine a sequence of states from a start to a goal while accounting for planning objectives. Popular methods often integrate fixed batch sizes and…
Tree-Based Grafting Approach for Bidirectional Motion Planning with Local Subsets Optimization
Liding Zhang, Yao Ling, Zhenshan Bing +3
Bidirectional motion planning often reduces planning time compared to its unidirectional counterparts. It requires connecting the forward and reverse search trees to form a continu…
Elliptical K-Nearest Neighbors -- Path Optimization via Coulomb's Law and Invalid Vertices in C-space Obstacles
Liding Zhang, Zhenshan Bing, Yu Zhang +5
Path planning has long been an important and active research area in robotics. To address challenges in high-dimensional motion planning, this study introduces the Force Direction…
Direction Informed Trees (DIT*): Optimal Path Planning via Direction Filter and Direction Cost Heuristic
Liding Zhang, Kejia Chen, Kuanqi Cai +7
Optimal path planning requires finding a series of feasible states from the starting point to the goal to optimize objectives. Popular path planning algorithms, such as Effort Info…
Whisker-based Active Tactile Perception for Contour Reconstruction
Yixuan Dang, Qinyang Xu, Yu Zhang +5
Perception using whisker-inspired tactile sensors currently faces a major challenge: the lack of active control in robots based on direct contact information from the whisker. To a…