25 citations · 32 across the 22 of their papers we have counts for
10 papers · 1 filter
Disambiguate Gripper State in Grasp-Based Tasks: Pseudo-Tactile as Feedback Enables Pure Simulation Learning
Yifei Yang, Lu Chen, Zherui Song +5
Grasp-based manipulation tasks are fundamental to robots interacting with their environments, yet gripper state ambiguity significantly reduces the robustness of imitation learning…
Natural Humanoid Robot Locomotion with Generative Motion Prior
Haodong Zhang, Liang Zhang, Zhenghan Chen +3
Natural and lifelike locomotion remains a fundamental challenge for humanoid robots to interact with human society. However, previous methods either neglect motion naturalness or r…
Efficient Alignment of Unconditioned Action Prior for Language-conditioned Pick and Place in Clutter
Kechun Xu, Xunlong Xia, Kaixuan Wang +6
We study the task of language-conditioned pick and place in clutter, where a robot should grasp a target object in open clutter and move it to a specified place. Some approaches le…
Compliance while resisting: a shear-thickening fluid controller for physical human-robot interaction
Lu Chen, Lipeng Chen, Xiangchi Chen +6
Physical human-robot interaction (pHRI) is widely needed in many fields, such as industrial manipulation, home services, and medical rehabilitation, and puts higher demands on the…
Pretraining-finetuning Framework for Efficient Co-design: A Case Study on Quadruped Robot Parkour
Ci Chen, Jiyu Yu, Haojian Lu +3
In nature, animals with exceptional locomotion abilities, such as cougars, often possess asymmetric fore and hind legs. This observation inspired us: could optimizing the leg lengt…
Grasp, See, and Place: Efficient Unknown Object Rearrangement with Policy Structure Prior
Kechun Xu, Zhongxiang Zhou, Jun Wu +3
We focus on the task of unknown object rearrangement, where a robot is supposed to re-configure the objects into a desired goal configuration specified by an RGB-D image. Recent wo…
NGEL-SLAM: Neural Implicit Representation-based Global Consistent Low-Latency SLAM System
Yunxuan Mao, Xuan Yu, Kai Wang +3
Neural implicit representations have emerged as a promising solution for providing dense geometry in Simultaneous Localization and Mapping (SLAM). However, existing methods in this…
A Two-stage Based Social Preference Recognition in Multi-Agent Autonomous Driving System
Jintao Xue, Dongkun Zhang, Rong Xiong +2
Multi-Agent Reinforcement Learning (MARL) has become a promising solution for constructing a multi-agent autonomous driving system (MADS) in complex and dense scenarios. But most m…
CNS: Correspondence Encoded Neural Image Servo Policy
Anzhe Chen, Hongxiang Yu, Yue Wang +1
Image servo is an indispensable technique in robotic applications that helps to achieve high precision positioning. The intermediate representation of image servo policy is importa…
Sparse Waypoint Validity Checking for Self-Entanglement-Free Tethered Path Planning
Tong Yang, Jiangpin Liu, Yue Wang +1
A novel mechanism to derive self-entanglement-free (SEF) path for tethered differential-driven robots is proposed in this work. The problem is tailored to the deployment of tethere…