13 papers · 1 filter
GenHOI: Contact-Aware Humanoid-Object Interaction by Imitating Generated Videos without Task-Specific Training
Zhihai Bi, Qiang Zhang, Guoyang Zhao +8
Humanoid-Object Interaction (HOI) is a fundamental capability for humanoid robots, yet it remains challenging due to the tight coupling between dynamic balance and stable interacti…
FT-WBC: Learning Fault-Tolerant Whole-Body Control for Legged Loco-Manipulation
Yudong Zhong, Pengfei Mai, Sikai Guo +6
Legged manipulators combine the mobility of legged platforms with the manipulation capability of robotic arms. However, arm-induced Center-of-Mass shifts and dynamic disturbances m…
Learning Terrain-Aware Whole-Body Control for Perceptive Legged Loco-Manipulation
Sikai Guo, Yudong Zhong, Guoyang Zhao +3
Legged manipulators integrate exceptional terrain adaptability along with mobile manipulation capabilities, which make them highly promising for deployment in human-centric environ…
Dual-Quadruped Collaborative Transportation in Narrow Environments via Safe Reinforcement Learning
Zhezhi Lei, Zhihai Bi, Wenxin Wang +1
Collaborative transportation, where multiple robots collaboratively transport a payload, has garnered significant attention in recent years. While ensuring safe and high-performanc…
ALORE: Autonomous Large-Object Rearrangement with a Legged Manipulator
Zhihai Bi, Yushan Zhang, Kai Chen +3
Endowing robots with the ability to rearrange various large and heavy objects, such as furniture, can substantially alleviate human workload. However, this task is extremely challe…
Fast and Safe Trajectory Optimization for Mobile Manipulators With Neural Configuration Space Distance Field
Yulin Li, Zhiyuan Song, Yiming Li +8
Mobile manipulators promise agile, long-horizon behavior by coordinating base and arm motion, yet whole-body trajectory optimization in cluttered, confined spaces remains difficult…
Online Trajectory Optimization for Arbitrary-Shaped Mobile Robots via Polynomial Separating Hypersurfaces
Shuoye Li, Zhiyuan Song, Yulin Li +2
An emerging class of trajectory optimization methods enforces collision avoidance by jointly optimizing the robot's configuration and a separating hyperplane. However, as linear se…
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…
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…
FRTree Planner: Robot Navigation in Cluttered and Unknown Environments with Tree of Free Regions
Yulin Li, Zhicheng Song, Chunxin Zheng +4
In this work, we present FRTree planner, a novel robot navigation framework that leverages a tree structure of free regions, specifically designed for navigation in cluttered and u…