1 citations · 1 across the 5 of their papers we have counts for
6 papers
Neural Implicit Action Fields: From Discrete Waypoints to Continuous Functions for Vision-Language-Action Models
Haoyun Liu, Jianzhuang Zhao, Xinyuan Chang +11
Despite the rapid progress of vision-language-action (VLA) models, the prevailing practice of predicting action chunks as discrete waypoints remains structurally misaligned with th…
End-to-End Humanoid Robot Safe and Comfortable Locomotion Policy
Zifan Wang, Xun Yang, Jianzhuang Zhao +5
The deployment of humanoid robots in unstructured, human-centric environments requires navigation capabilities that extend beyond simple locomotion to include robust perception, pr…
IMA-Catcher: An IMpact-Aware Nonprehensile Catching Framework based on Combined Optimization and Learning
Francesco Tassi, Jianzhuang Zhao, Gustavo J. G. Lahr +5
Robotic catching of flying objects typically generates high impact forces that might lead to task failure and potential hardware damages. This is accentuated when the object mass t…
A Combined Learning and Optimization Framework to Transfer Human Whole-body Loco-manipulation Skills to Mobile Manipulators
Jianzhuang Zhao, Francesco Tassi, Yanlong Huang +2
Humans' ability to smoothly switch between locomotion and manipulation is a remarkable feature of sensorimotor coordination. Leaning and replication of such human-like strategies c…
Impact-Friendly Object Catching at Non-Zero Velocity Based on Combined Optimization and Learning
Jianzhuang Zhao, Gustavo J. G. Lahr, Francesco Tassi +3
This paper proposes a combined optimization and learning method for impact-friendly, non-prehensile catching of objects at non-zero velocity. Through a constrained Quadratic Progra…
A Hybrid Learning and Optimization Framework to Achieve Physically Interactive Tasks with Mobile Manipulators
Jianzhuang Zhao, Alberto Giammarino, Edoardo Lamon +3
This paper proposes a hybrid learning and optimization framework for mobile manipulators for complex and physically interactive tasks. The framework exploits an admittance-type phy…