2 citations · 5 across the 12 of their papers we have counts for
14 papers
Decompose and Reorganize: Planning with Primitives and Visuomotor Policies Learned from Demonstrations
Yizhou Chen, Hang Xu, Dongjie Yu +7
Successfully automating dexterous, long-horizon robotic manipulation requires frameworks capable of both high-level reasoning and fine-grained execution. Traditional task and motio…
Dynamic Resilient Spatio-Semantic Memory with Hybrid Localization for Mobile Manipulation
Zhijie Yan, Shufei Li, Ze Zhang +3
Reliable mobile manipulation in dynamic indoor environments requires a scene representation that remains geometrically consistent, semantically queryable, and computationally bound…
World Models for Robotic Manipulation: A Survey
Fangyuan Wang, Ziyuan Wang, Guorui Pei +15
Robotic manipulation depends on the ability to anticipate how actions reshape objects, contacts, and scene geometry before execution. Learned world models provide this capability b…
Collaborative Assembly Policy Learning of a Sightless Robot
Zeqing Zhang, Weifeng Lu, Lei Yang +3
This paper explores a physical human-robot collaboration (pHRC) task involving the joint insertion of a board into a frame by a sightless robot and a human operator. While admittan…
Lyapunov Stability Learning with Nonlinear Control via Inductive Biases
Yupu Lu, Shijie Lin, Hao Xu +2
Finding a control Lyapunov function (CLF) in a dynamical system with a controller is an effective way to guarantee stability, which is a crucial issue in safety-concerned applicati…
A Dataset and Benchmark for Robotic Cloth Unfolding Grasp Selection: The ICRA 2024 Cloth Competition
Victor-Louis De Gusseme, Thomas Lips, Remko Proesmans +59
Robotic cloth manipulation suffers from a lack of standardized benchmarks and shared datasets for evaluating and comparing different approaches. To address this, we created a bench…
SViP: Sequencing Bimanual Visuomotor Policies with Object-Centric Motion Primitives
Yizhou Chen, Hang Xu, Dongjie Yu +3
Imitation learning (IL), particularly when leveraging high-dimensional visual inputs for policy training, has proven intuitive and effective in complex bimanual manipulation tasks.…
Understanding Particles From Video: Property Estimation of Granular Materials via Visuo-Haptic Learning
Zeqing Zhang, Guangze Zheng, Xuebo Ji +6
Granular materials (GMs) are ubiquitous in daily life. Understanding their properties is also important, especially in agriculture and industry. However, existing works require ded…
A Haptic-Based Proximity Sensing System for Buried Object in Granular Material
Zeqing Zhang, Ruixing Jia, Youcan Yan +5
The proximity perception of objects in granular materials is significant, especially for applications like minesweeping. However, due to particles' opacity and complex properties,…
EROAM: Event-based Camera Rotational Odometry and Mapping in Real-time
Wanli Xing, Shijie Lin, Linhan Yang +6
This paper presents EROAM, a novel event-based rotational odometry and mapping system that achieves real-time, accurate camera rotation estimation. Unlike existing approaches that…
One Fling to Goal: Environment-aware Dynamics for Goal-conditioned Fabric Flinging
Linhan Yang, Lei Yang, Haoran Sun +5
Fabric manipulation dynamically is commonly seen in manufacturing and domestic settings. While dynamically manipulating a fabric piece to reach a target state is highly efficient,…
NeuPAN: Direct Point Robot Navigation with End-to-End Model-based Learning
Ruihua Han, Shuai Wang, Shuaijun Wang +8
Navigating a nonholonomic robot in a cluttered, unknown environment requires accurate perception and precise motion control for real-time collision avoidance. This paper presents N…
CafkNet: GNN-Empowered Forward Kinematic Modeling for Cable-Driven Parallel Robots
Zeqing Zhang, Linhan Yang, Cong Sun +2
Cable-driven parallel robots (CDPRs) have gained significant attention due to their promising advantages. When deploying CDPRs in practice, the kinematic modeling is a key question…
An Interval Branch-and-Bound-Based Inverse Kinemetics Algorithm Towards Global Optimal Redundancy Resolution
Yajue Yang, Zeqing Zhang, Yuanqing Wu +1
The general inverse kinematics (IK) problem of a manipulator, namely that of acquiring the self-motion manifold (SMM) of all admissible joint angles for a desired end-effector pose…