2 citations · 3 across the 9 of their papers we have counts for
6 papers · 1 filter
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…