4 citations · 9 across the 10 of their papers we have counts for
6 papers · 1 filter
On the Numerical Reliability of Differentiable Physics-Based Optimization for Robotic Material Manipulation
Xintong Yang, Minglun Wei, Yu-Kun Lai +1
Differentiable physics is increasingly used in robotic material manipulation for system identification, trajectory or skill optimization, demonstration generation, and robot or end…
Differentiable Skill Optimisation for Powder Manipulation in Laboratory Automation
Minglun Wei, Xintong Yang, Yu-Kun Lai +1
Robotic automation is accelerating scientific discovery by reducing manual effort in laboratory workflows. However, precise manipulation of powders remains challenging, particularl…
SEA: Semantic Map Prediction for Active Exploration of Uncertain Areas
Hongyu Ding, Xinyue Liang, Yudong Fang +7
In this paper, we propose SEA, a novel approach for active robot exploration through semantic map prediction and a reinforcement learning-based hierarchical exploration policy. Unl…
DDBot: Differentiable Physics-based Digging Robot for Unknown Granular Materials
Xintong Yang, Minglun Wei, Yu-Kun Lai +1
Automating the manipulation of granular materials poses significant challenges due to complex contact dynamics, unpredictable material properties, and intricate system states. Exis…
Differentiable Physics-based System Identification for Robotic Manipulation of Elastoplastic Materials
Xintong Yang, Ze Ji, Yu-Kun Lai
Robotic manipulation of volumetric elastoplastic deformable materials, from foods such as dough to construction materials like clay, is in its infancy, largely due to the difficult…
A Physics-informed Demonstration-guided Learning Framework for Granular Material Manipulation
Minglun Wei, Xintong Yang, Yu-Kun Lai +2
Due to the complex physical properties of granular materials, research on robot learning for manipulating such materials predominantly either disregards the consideration of their…