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cs.RO2025
Hierarchical Deformation Planning and Neural Tracking for DLOs in Constrained Environments
Yunxi Tang, Tianqi Yang, Jing Huang +2
Deformable linear objects (DLOs) manipulation presents significant challenges due to DLOs' inherent high-dimensional state space and complex deformation dynamics. The wide-populate…
cs.RO2025
Manipulating Elasto-Plastic Objects With 3D Occupancy and Learning-Based Predictive Control
Zhen Zhang, Xiangyu Chu, Yunxi Tang +4
Manipulating elasto-plastic objects remains a significant challenge due to severe self-occlusion, difficulties of representation, and complicated dynamics. This work proposes a nov…
cs.RO2025
Learning to Hop for a Single-Legged Robot with Parallel Mechanism
Hongbo Zhang, Xiangyu Chu, Yanlin Chen +4
This work presents the application of reinforcement learning to improve the performance of a highly dynamic hopping system with a parallel mechanism. Unlike serial mechanisms, para…