1 citations · 1 across the 10 of their papers we have counts for
10 papers
PHR-VLA: Planning Horizon Reasoning for Vision-Language-Action Models
Davood Soleymanzadeh, Kaidi Zhang, Zhiyuan Zhang +4
Vision-language-action models (VLAs) have shown strong promise for general-purpose robotic manipulation by mapping language instructions and vision observations directly to actions…
Imagining the Sense of Touch: Touch-Informed Manipulation via Imagined Tactile Representations
Zhiyuan Zhang, Adeesh Desai, Jyun-Chi Hu +7
Tactile sensing can substantially improve contact-rich robotic manipulation, yet its practical deployment remains limited by the fragility, calibration requirements, and maintenanc…
ContactWorld: What Representations Matter for Vision-Tactile Latent World Models in Contact-Rich Manipulation
Zhiyuan Zhang, Pokuang Zhou, Kaidi Zhang +7
Contact-rich manipulation poses a fundamental challenge for world models: visual and tactile observations capture different aspects of physical interaction, and their utility depen…
Flow Motion Policy: Manipulator Motion Planning with Flow Matching Models
Davood Soleymanzadeh, Xiao Liang, Minghui Zheng
Open-loop end-to-end neural motion planners have recently been proposed to improve motion planning for robotic manipulators. These methods enable planning directly from sensor obse…
Toward Generalist Neural Motion Planners for Robotic Manipulators: Challenges and Opportunities
Davood Soleymanzadeh, Ivan Lopez-Sanchez, Hao Su +3
State-of-the-art generalist manipulation policies have enabled the deployment of robotic manipulators in unstructured human environments. However, these frameworks struggle in clut…
GAIDE: Graph-based Attention Masking for Spatial- and Embodiment-aware Motion Planning
Davood Soleymanzadeh, Xiao Liang, Minghui Zheng
Sampling-based motion planning algorithms are widely used for motion planning of robotic manipulators, but they often struggle with sample inefficiency in high-dimensional configur…
Modular Safety Guardrails Are Necessary for Foundation-Model-Enabled Robots in the Real World
Joonkyung Kim, Wenxi Chen, Davood Soleymanzadeh +9
The integration of foundation models (FMs) into robotics has accelerated real-world deployment, while introducing new safety challenges arising from open-ended semantic reasoning a…
PerFACT: Motion Policy with LLM-Powered Dataset Synthesis and Fusion Action-Chunking Transformers
Davood Soleymanzadeh, Xiao Liang, Minghui Zheng
Deep learning methods have significantly enhanced motion planning for robotic manipulators by leveraging prior experiences within planning datasets. However, state-of-the-art neura…
DeGrip: A Compact Cable-driven Robotic Gripper for Desktop Disassembly
Bihao Zhang, Davood Soleymanzadeh, Xiao Liang +1
Intelligent robotic disassembly of end-of-life (EOL) products has been a long-standing challenge in robotics. While machine learning techniques have shown promise, the lack of spec…
SIMPNet: Spatial-Informed Motion Planning Network
Davood Soleymanzadeh, Xiao Liang, Minghui Zheng
Current robotic manipulators require fast and efficient motion-planning algorithms to operate in cluttered environments. State-of-the-art sampling-based motion planners struggle to…