7 papers
ManiSkillFormer: Demonstration-Free Compositional Manipulation via Geometric Contracts and Agentic Skill Graph
Peiqi Yu, Mosam Dabhi, Shangtao Li +3
Adapting robotic manipulation to new objects and tasks often requires additional demonstrations or manual engineering. Reusable manipulation skills can reduce this effort, but adap…
Dynamic Neural Koopman Distillation for Fast Robot Control Using Diffusion Models
Lei Zheng, Peiqi Yu, Zengqi Peng +2
Diffusion models excel at generating diverse, multimodal trajectories for robotic control, yet their iterative denoising process introduces latency that can constrain real-time clo…
Emergent Neural Automaton Policies: Learning Symbolic Structure from Visuomotor Trajectories
Yiyuan Pan, Xusheng Luo, Hanjiang Hu +2
Scaling robot learning to long-horizon tasks remains a formidable challenge. While end-to-end policies often lack the structural priors needed for effective long-term reasoning, tr…
Autonomous Integration and Improvement of Robotic Assembly using Skill Graph Representations
Peiqi Yu, Philip Huang, Chaitanya Chawla +3
Robotic assembly systems traditionally require substantial manual engineering effort to integrate new tasks, adapt to new environments, and improve performance over time. This pape…
Contingency Planning for Safety-Critical Autonomous Vehicles: A Review and Perspectives
Lei Zheng, Luyao Zhang, Peiqi Yu +4
Contingency planning is the architectural capability that enables autonomous vehicles (AVs) to anticipate and mitigate discrete, high-impact hazards, such as sensor outages and adv…
NeSyPack: A Neuro-Symbolic Framework for Bimanual Logistics Packing
Bowei Li, Peiqi Yu, Zhenran Tang +4
This paper presents NeSyPack, a neuro-symbolic framework for bimanual logistics packing. NeSyPack combines data-driven models and symbolic reasoning to build an explainable hierarc…
Robustifying Long-term Human-Robot Collaboration through a Multimodal and Hierarchical Framework
Peiqi Yu, Abulikemu Abuduweili, Ruixuan Liu +1
Long-term Human-Robot Collaboration (HRC) is crucial for enabling flexible manufacturing systems and integrating companion robots into daily human environments over extended period…