2 citations · 5 across the 19 of their papers we have counts for
18 papers · 1 filter
SEED-UMI: Sharing the Exoskeleton between human and robot for onE-to-one Dexterous demonstration
Tengbo Yu, Jiahao Wu, Daohan Li +4
Imitation learning for dexterous hands is bottlenecked by the difficulty of collecting contact-rich demonstrations that transfer faithfully to the robot. Prior wearable-exoskeleton…
Adaptive Vision-Language Grasping via Composable Foundation Priors and Generalizable Grasp Synthesis
Sixu Yan, Shikang Wang, Binhua Huang +11
This paper proposes AdaRoboVLG, a task-adaptive Vision-Language-Grasp (VLG) framework that supports generalizable grasp synthesis across different robotic hands. Unlike existing VL…
PRISM: Precision and contact-rich Real-world Industrial Skill dataset with Multimodal sensing
Tengbo Yu, Jiahao Wu, Hanning Wang +4
Recent progress in robotic learning has been fueled by large-scale datasets collected in everyday environments. However, most existing datasets emphasize short-horizon, low-contact…
AdaReP:Adaptive Re-Planning under Model Mismatch for Neural World-Model Predictive Control
Yutian Cheng, Xiaojian Ma, Xianhao Wang +6
Neural world models coupled with model predictive control (MPC) replan at every environment step to bound accumulated prediction error, but this incurs substantial computational ov…
Dynamic Whole-Body Dancing with Humanoid Robots -- A Model-Based Control Approach
Shibowen Zhang, Jiayang Wu, Guannan Liu +12
This paper presents an integrated model-based framework for generating and executing dynamic whole-body dance motions on humanoid robots. The framework operates in two stages: offl…
Towards Bridging the Gap between Large-Scale Pretraining and Efficient Finetuning for Humanoid Control
Weidong Huang, Zhehan Li, Hangxin Liu +3
Reinforcement learning (RL) is widely used for humanoid control, with on-policy methods such as Proximal Policy Optimization (PPO) enabling robust training via large-scale parallel…
Integrated Exploration and Sequential Manipulation on Scene Graph with LLM-based Situated Replanning
Heqing Yang, Ziyuan Jiao, Shu Wang +3
In partially known environments, robots must combine exploration to gather information with task planning for efficient execution. To address this challenge, we propose EPoG, an Ex…
ECO: Energy-Constrained Optimization with Reinforcement Learning for Humanoid Walking
Weidong Huang, Jingwen Zhang, Jiongye Li +6
Achieving stable and energy-efficient locomotion is essential for humanoid robots to operate continuously in real-world applications. Existing MPC and RL approaches often rely on e…
ReSPIRe: Informative and Reusable Belief Tree Search for Robot Probabilistic Search and Tracking in Unknown Environments
Kangjie Zhou, Zhaoyang Li, Han Gao +4
Target search and tracking (SAT) is a fundamental problem for various robotic applications such as search and rescue and environmental exploration. This paper proposes an informati…
Path and Motion Optimization for Efficient Multi-Location Inspection with Humanoid Robots
Jiayang Wu, Jiongye Li, Shibowen Zhang +8
This paper proposes a novel framework for humanoid robots to execute inspection tasks with high efficiency and millimeter-level precision. The approach combines hierarchical planni…
In-situ Value-aligned Human-Robot Interactions with Physical Constraints
Hongtao Li, Ziyuan Jiao, Xiaofeng Liu +2
Equipped with Large Language Models (LLMs), human-centered robots are now capable of performing a wide range of tasks that were previously deemed challenging or unattainable. Howev…
SuperMag: Vision-based Tactile Data Guided High-resolution Tactile Shape Reconstruction for Magnetic Tactile Sensors
Peiyao Hou, Danning Sun, Meng Wang +5
Magnetic-based tactile sensors (MBTS) combine the advantages of compact design and high-frequency operation but suffer from limited spatial resolution due to their sparse taxel arr…
Large-scale Deployment of Vision-based Tactile Sensors on Multi-fingered Grippers
Meng Wang, Wanlin Li, Hao Liang +4
Vision-based Tactile Sensors (VBTSs) show significant promise in that they can leverage image measurements to provide high-spatial-resolution human-like performance. However, curre…
Flight Structure Optimization of Modular Reconfigurable UAVs
Yao Su, Ziyuan Jiao, Zeyu Zhang +4
This paper presents a Genetic Algorithm (GA) designed to reconfigure a large group of modular Unmanned Aerial Vehicles (UAVs), each with different weights and inertia parameters, i…
Dynamic Planning for Sequential Whole-body Mobile Manipulation
Zhitian Li, Yida Niu, Yao Su +2
The dynamic Sequential Mobile Manipulation Planning (SMMP) framework is essential for the safe and robust operation of mobile manipulators in dynamic environments. Previous researc…
CDM-MPC: An Integrated Dynamic Planning and Control Framework for Bipedal Robots Jumping
Zhicheng He, Jiayang Wu, Jingwen Zhang +6
Performing acrobatic maneuvers like dynamic jumping in bipedal robots presents significant challenges in terms of actuation, motion planning, and control. Traditional approaches to…
ASPIRe: An Informative Trajectory Planner with Mutual Information Approximation for Target Search and Tracking
Kangjie Zhou, Pengying Wu, Yao Su +4
This paper proposes an informative trajectory planning approach, namely, \textit{adaptive particle filter tree with sigma point-based mutual information reward approximation} (ASPI…
Driving Animatronic Robot Facial Expression From Speech
Boren Li, Hang Li, Hangxin Liu
Animatronic robots hold the promise of enabling natural human-robot interaction through lifelike facial expressions. However, generating realistic, speech-synchronized robot expres…