5 papers · 1 filter
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 Real-Time Robot Control Using Diffusion Models
Lei Zheng, Peiqi Yu, Zengqi Peng +2
Diffusion models excel at generating diverse and multimodal trajectories for robotic planning, yet their iterative denoising process introduces latency that is incompatible with hi…
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…