1 citations · 3 across the 21 of their papers we have counts for
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Embracing Bulky Objects with Humanoid Robots: Whole-Body Manipulation with Reinforcement Learning
Chunxin Zheng, Kai Chen, Zhihai Bi +5
Whole-body manipulation (WBM) for humanoid robots presents a promising approach for executing embracing tasks involving bulky objects, where traditional grasping relying on end-eff…
SAMP: Spatial Anchor-based Motion Policy for Collision-Aware Robotic Manipulators
Kai Chen, Zhihai Bi, Guoyang Zhao +4
Neural-based motion planning methods have achieved remarkable progress for robotic manipulators, yet a fundamental challenge lies in simultaneously accounting for both the robot's…
A Reconfigured Wheel-Legged Robot for Enhanced Steering and Adaptability
Zhicheng Song, Jinglan Xu, Chunxin Zheng +3
Wheel-legged robots integrate leg agility on rough terrain with wheel efficiency on flat ground. However, most existing designs do not fully capitalize on the benefits of both legg…
Interactive Navigation for Legged Manipulators with Learned Arm-Pushing Controller
Zhihai Bi, Kai Chen, Chunxin Zheng +3
Interactive navigation is crucial in scenarios where proactively interacting with objects can yield shorter paths, thus significantly improving traversal efficiency. Existing metho…
On the Surprising Robustness of Sequential Convex Optimization for Contact-Implicit Motion Planning
Yulin Li, Haoyu Han, Shucheng Kang +2
Contact-implicit motion planning-embedding contact sequencing as implicit complementarity constraints-holds the promise of leveraging continuous optimization to discover new contac…
Local Reactive Control for Mobile Manipulators with Whole-Body Safety in Complex Environments
Chunxin Zheng, Yulin Li, Zhiyuan Song +4
Mobile manipulators typically encounter significant challenges in navigating narrow, cluttered environments due to their high-dimensional state spaces and complex kinematics. While…
UDMC: Unified Decision-Making and Control Framework for Urban Autonomous Driving with Motion Prediction of Traffic Participants
Haichao Liu, Kai Chen, Yulin Li +3
Current autonomous driving systems often struggle to balance decision-making and motion control while ensuring safety and traffic rule compliance, especially in complex urban envir…