6 papers
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…
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…
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…
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…