51 citations · 52 across the 5 of their papers we have counts for
4 papers · 1 filter
VQActFlow: Vector-Quantized Action Mode Steering for Multi-Task Robot Manipulation
Zhigen Zhao, Mark Leggiero, Yipu Chen +5
Multi-task robot manipulation policies are challenging to learn from demonstration because traditionally a single network must select among qualitatively different action modes fro…
XRoboToolkit: A Cross-Platform Framework for Robot Teleoperation
Zhigen Zhao, Liuchuan Yu, Ke Jing +1
The rapid advancement of Vision-Language-Action models has created an urgent need for large-scale, high-quality robot demonstration datasets. Although teleoperation is the predomin…
A Survey of Optimization-based Task and Motion Planning: From Classical To Learning Approaches
Zhigen Zhao, Shuo Cheng, Yan Ding +4
Task and Motion Planning (TAMP) integrates high-level task planning and low-level motion planning to equip robots with the autonomy to effectively reason over long-horizon, dynamic…
Integrating Reconfigurable Foot Design, Multi-modal Contact Sensing, and Terrain Classification for Bipedal Locomotion
Ted Tyler, Vaibhav Malhotra, Adam Montague +3
The ability of bipedal robots to adapt to diverse and unstructured terrain conditions is crucial for their deployment in real-world environments. To this end, we present a novel, b…