2 citations · 3 across the 9 of their papers we have counts for
12 papers
MIGU: Multimodal Instruction Grounding under Uncertainty for Manipulation Planning
Mingke Lu, Anxing Xiao, David Hsu
Understanding natural human instructions is crucial for deploying robots in human-centric environments. We study multimodal instruction grounding, where language and gesture provid…
Receding-Horizon Pushing with Composable Object-Centric Policies
Zhiyi Yuan, Tianrun Hu, Anxing Xiao +3
Non-prehensile manipulation is practical for relocating large, heavy, or geometrically ungraspable objects. Yet, long-horizon pushing of arbitrarily-shaped 3D objects couples three…
Hypothesis-driven Model Expansion under Uncertainty for Open-World Robot Planning
Anxing Xiao, Hanbo Zhang, Tianrun Hu +1
We consider an open-world planning setting in which service robots must operate in unknown environments with incomplete knowledge of objects and actions. Traditional closed-world a…
CANINE: Coaching Visually Impaired Users for Interactive Navigation with a Robot Guide Dog
Cunjun Yu, Zishuo Wang, Anxing Xiao +2
Robot guide dogs offer navigation assistance that greatly expands the independent mobility of the visually impaired, but their effective use requires subtle human-robot coordinatio…
Visibility-Aware Mobile Grasping in Dynamic Environments
Tianrun Hu, Anxing Xiao, David Hsu +1
We consider mobile grasping in unknown and dynamic environments, where a robot must approach and grasp a target object using a camera with a limited field of view. This setting int…
From Obstacles to Etiquette: Robot Social Navigation with VLM-Informed Path Selection
Zilin Fang, Anxing Xiao, David Hsu +1
Navigating socially in human environments requires more than satisfying geometric constraints, as collision-free paths may still interfere with ongoing activities or conflict with…
MimicFunc: Imitating Tool Manipulation from a Single Human Video via Functional Correspondence
Chao Tang, Anxing Xiao, Yuhong Deng +5
Imitating tool manipulation from human videos offers an intuitive approach to teaching robots, while also providing a promising and scalable alternative to labor-intensive teleoper…
Robot Operation of Home Appliances by Reading User Manuals
Jian Zhang, Hanbo Zhang, Anxing Xiao +1
Operating home appliances, among the most common tools in every household, is a critical capability for assistive home robots. This paper presents ApBot, a robot system that operat…
FUNCTO: Function-Centric One-Shot Imitation Learning for Tool Manipulation
Chao Tang, Anxing Xiao, Yuhong Deng +5
Learning tool use from a single human demonstration video offers a highly intuitive and efficient approach to robot teaching. While humans can effortlessly generalize a demonstrate…
Robi Butler: Multimodal Remote Interaction with a Household Robot Assistant
Anxing Xiao, Nuwan Janaka, Tianrun Hu +4
Imagine a future when we can Zoom-call a robot to manage household chores remotely. This work takes one step in this direction. Robi Butler is a new household robot assistant that…
GSON: A Group-based Social Navigation Framework with Large Multimodal Model
Shangyi Luo, Peng Sun, Ji Zhu +4
With the increasing presence of service robots and autonomous vehicles in human environments, navigation systems need to evolve beyond simple destination reach to incorporate socia…
LLM-State: Open World State Representation for Long-horizon Task Planning with Large Language Model
Siwei Chen, Anxing Xiao, David Hsu
This work addresses the problem of long-horizon task planning with the Large Language Model (LLM) in an open-world household environment. Existing works fail to explicitly track ke…