40 citations · 44 across the 7 of their papers we have counts for
7 papers
DexFlow: A Unified Approach for Dexterous Hand Pose Retargeting and Interaction
Xiaoyi Lin, Kunpeng Yao, Lixin Xu +4
Despite advances in hand-object interaction modeling, generating realistic dexterous manipulation data for robotic hands remains a challenge. Retargeting methods often suffer from…
Action Contextualization: Adaptive Task Planning and Action Tuning using Large Language Models
Sthithpragya Gupta, Kunpeng Yao, Loïc Niederhauser +1
Large Language Models (LLMs) present a promising frontier in robotic task planning by leveraging extensive human knowledge. Nevertheless, the current literature often overlooks the…
Transfer Learning in Robotics: An Upcoming Breakthrough? A Review of Promises and Challenges
Noémie Jaquier, Michael C. Welle, Andrej Gams +6
Transfer learning is a conceptually-enticing paradigm in pursuit of truly intelligent embodied agents. The core concept -- reusing prior knowledge to learn in and from novel situat…
Implicit Articulated Robot Morphology Modeling with Configuration Space Neural Signed Distance Functions
Yiting Chen, Xiao Gao, Kunpeng Yao +3
In this paper, we introduce a novel approach to implicitly encode precise robot morphology using forward kinematics based on a configuration space signed distance function. Our pro…
Enhancing Dexterity in Confined Spaces: Real-Time Motion Planning for Multi-Fingered In-Hand Manipulation
Xiao Gao, Kunpeng Yao, Farshad Khadivar +1
Dexterous in-hand manipulation in robotics, particularly with multi-fingered robotic hands, poses significant challenges due to the intricate avoidance of collisions among fingers…
ISR-LLM: Iterative Self-Refined Large Language Model for Long-Horizon Sequential Task Planning
Zhehua Zhou, Jiayang Song, Kunpeng Yao +2
Motivated by the substantial achievements observed in Large Language Models (LLMs) in the field of natural language processing, recent research has commenced investigations into th…
Exploiting Kinematic Redundancy for Robotic Grasping of Multiple Objects
Kunpeng Yao, Aude Billard
Humans coordinate the abundant degrees of freedom (DoFs) of hands to dexterously perform tasks in everyday life. We imitate human strategies to advance the dexterity of multi-DoF r…