33 citations · 34 across the 13 of their papers we have counts for
18 papers
Demonstration-Based Robotic Feeding Using Dynamic Movement Primitives
Kenzhi Iskandar Wong, Kitti Thamrongaphichartkul, Sri Harsha Turlapati +10
This paper presents a demonstration-based robotic feeding framework that integrates human demonstration, Dynamic Movement Primitive-based motion planning, vision-based scene percep…
DexGraspFlow: Topology-Aware SE(3) Flow Matching for Cross-Embodiment Dexterous Grasp Generation
Bin Zhou, Boyu Ma, Xinyu Zhou +5
Differences in hand geometry, joint parameterization, and kinematic topology pose challenges for cross-embodiment dexterous grasp generation. However, spatial relations among links…
ZOIF: Zeroth-Order Influence Function Estimation for LLM Data Selection Using Only Forward Passes
Lisong He, Yunxuan Jiang, Haishan Ye +1
Influence functions enable principled data selection for large language models (e.g., identifying influential training samples for model editing, debugging, or efficient fine-tunin…
Fast Plans, Faithful Actions: Closing the Planning-Execution Gap in Hierarchical Vision-Language-Action Models
Chuanliang Xie, Boyu Ma, Gen Li +4
Hierarchical vision-language-action (VLA) systems consist of a high-level vision-language planner and a low-level action expert that generates continuous actions. This hierarchical…
Unified Condition-Action Modeling for Accurate One-Step Action Generation
Xinyu Zhou, Zikun Cai, Kuangji Zuo +7
Robot manipulation requires policies that are both accurate and efficient, as robot control must respond to changing observations under tight latency constraints. Recent diffusion…
GCS-Bridging: Restoring Connectivity of Disconnected Convex Sets for Graph-of-Convex-Sets Motion Planning
Xiaokai Zhou, Baoshi Cao, Yang Liu +4
Graph-of-Convex-Sets (GCS)-based trajectory optimization represents collision-free regions in configuration space as a finite collection of convex sets and directly performs collis…
Learning Physical Interaction: A Survey of Tactile- and Force-aware Robot Learning
Shilin Shan, Chuhao Zhou, Ruize Wang +30
Physically grounded robot intelligence requires robots to perceive, reason about, and regulate their interactions with the physical world. This capability is particularly critical…
FuncBridge: Towards Functional Tool-Use Generalization via Keypoint Trajectory Reasoning
Chuhao Zhou, Liquan Wang, Shuxin Cao +5
While humans readily repurpose a book, a stone, or a shoe to drive a nail, robots trained on specific tools fail to transfer the same function to novel ones -- a gap we formalize a…
USS: Unifying Spatial-Semantic Prompting for End to End Embodied Visual Tracking
Yuchen Xie, Xinyu Zhou, Kuangji Zuo +4
Embodied Visual Tracking (EVT) requires an agent to continuously follow a designated target while moving through dynamic environments. Existing embodied tracking methods generally…
ADAPT: Analytical Disturbance-Aware Policy Training for Humanoid Locomotion
Bofan Lyu, Jindou Jia, Kuangji Zuo +7
Humanoids deployed in human-centered environments must handle force-interactive tasks, where external contacts introduce unexpected disturbances that disrupt locomotion accuracy an…
GIVE: Grounding Human Gestures in Vision-Language-Action Models
Pengfei Liu, Gen Li, Junqiao Fan +4
Human communication is inherently multimodal, where language is often accompanied by non-verbal cues such as gestures to convey intentions. However, current Vision-Language-Action…
Gaze2Act: Gaze-Conditioned Vision-Language-Action Policies for Interactive Robot Manipulation
Kuangji Zuo, Gen Li, Bofan Lyu +9
Vision-Language-Action (VLA) models have recently shown strong potential for robot learning by following language instructions. However, in practice, language alone is often insuff…
CompassAD: Intent-Driven 3D Affordance Grounding in Functionally Competing Objects
Jingliang Li, Jindou Jia, Tuo An +7
When told to "cut the cake," a robot must choose the knife over nearby scissors, despite both objects affording the same cutting function. In real-world scenes, multiple objects ma…
WaveMan: mmWave-Based Room-Scale Human Interaction Perception for Humanoid Robots
Yuxuan Hu, Kuangji Zuo, Boyu Ma +4
Reliable humanoid-robot interaction (HRI) in household environments is constrained by two fundamental requirements, namely robustness to unconstrained user positions and preservati…
Ecological Cycle Optimizer: A novel nature-inspired metaheuristic algorithm for non-convex global optimization
Boyu Ma, Jiaxiao Shi, Yiming Ji +1
This article proposes the Ecological Cycle Optimizer (ECO), a novel metaheuristic algorithm inspired by energy flow and material cycling within ecosystems. ECO draws an analogy bet…
Diffusion as Reasoning: Enhancing Object Navigation via Diffusion Model Conditioned on LLM-based Object-Room Knowledge
Yiming Ji, Kaijie Yun, Yang Liu +4
The Object Navigation (ObjectNav) task aims to guide an agent to locate target objects in unseen environments using partial observations. Prior approaches have employed location pr…
NEDS-SLAM: A Neural Explicit Dense Semantic SLAM Framework using 3D Gaussian Splatting
Yiming Ji, Yang Liu, Guanghu Xie +2
We propose NEDS-SLAM, a dense semantic SLAM system based on 3D Gaussian representation, that enables robust 3D semantic mapping, accurate camera tracking, and high-quality renderin…
NNPP: A Learning-Based Heuristic Model for Accelerating Optimal Path Planning on Uneven Terrain
Yiming Ji, Yang Liu, Guanghu Xie +3
Intelligent autonomous path planning is essential for enhancing the exploration efficiency of mobile robots operating in uneven terrains like planetary surfaces and off-road enviro…