6 papers
Passive iFIR filters for data-driven velocity control in robotics
Yi Zhang, Zixing Wang, Fulvio Forni
We present a passive, data-driven velocity control method for nonlinear robotic manipulators that achieves better tracking performance than optimized PID with comparable design com…
SkillTester: Benchmarking Utility and Security of Agent Skills
Leye Wang, Zixing Wang, Anjie Xu
This technical report presents SkillTester, a tool for evaluating the utility and security of agent skills. Its evaluation framework combines paired baseline and with-skill executi…
PPGuide: Steering Diffusion Policies with Performance Predictive Guidance
Zixing Wang, Devesh K. Jha, Ahmed H. Qureshi +1
Diffusion policies have shown to be very efficient at learning complex, multi-modal behaviors for robotic manipulation. However, errors in generated action sequences can compound o…
Multimodal Human-Intent Modeling for Contextual Robot-to-Human Handovers of Arbitrary Objects
Lucas Chen, Guna Avula, Hanwen Ren +2
Human-robot object handover is a crucial element for assistive robots that aim to help people in their daily lives, including elderly care, hospitals, and factory floors. The exist…
Physics-Conditioned Grasping for Stable Tool Use
Noah Trupin, Zixing Wang, Ahmed H. Qureshi
Tool use often fails not because robots misidentify tools, but because grasps cannot withstand task-induced wrench. Existing vision-language manipulation systems ground tools and c…
Implicit Physics-aware Policy for Dynamic Manipulation of Rigid Objects via Soft Body Tools
Zixing Wang, Ahmed H. Qureshi
Recent advancements in robot tool use have unlocked their usage for novel tasks, yet the predominant focus is on rigid-body tools, while the investigation of soft-body tools and th…