6 papers
A Hawkes Microfoundation for Multitype Inverse Gaussian Subordinators
Yingli Wang, Wei Xu, Lingjiong Zhu
We provide an event-level Hawkes microfoundation for a multitype inverse-Gaussian stochastic clock. We show that the event counts and integrated intensities of nearly critical mult…
Fast Planning for Multi-object Multi-target Throwing
Zhengming Zhu, Yang Liu, Xiao Gao +1
Robot throwing has emerged as a promising technique for improving efficiency in logistics and warehouse automation, by enlarging the workspace and speeding up the process. To signi…
LAC: Linear and Angular Compliance for Humanoid Whole-body Control
Yang Liu, Zhongkai Gu, Wei Zhu +1
Real-world humanoid tasks involve physical interaction with objects and humans, yet current controllers either reject external forces as disturbances or restrict compliance to limi…
Learning to Throw-Flip
Yang Liu, Bruno Da Costa, Aude Billard
Dynamic manipulation, such as robot tossing or throwing objects, has recently gained attention as a novel paradigm to speed up logistic operations. However, the focus has predomina…
Learning Accurate Whole-body Throwing with High-frequency Residual Policy and Pullback Tube Acceleration
Yuntao Ma, Yang Liu, Kaixian Qu +1
Throwing is a fundamental skill that enables robots to manipulate objects in ways that extend beyond the reach of their arms. We present a control framework that combines learning…
A Solution to Adaptive Mobile Manipulator Throwing
Yang Liu, Aradhana Nayak, Aude Billard
Mobile manipulator throwing is a promising method to increase the flexibility and efficiency of dynamic manipulation in factories. Its major challenge is to efficiently plan a feas…