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cs.RO2025
Domain-Conditioned Scene Graphs for State-Grounded Task Planning
Jonas Herzog, Jiangpin Liu, Yue Wang
Recent robotic task planning frameworks have integrated large multimodal models (LMMs) such as GPT-4o. To address grounding issues of such models, it has been suggested to split th…
cs.RO2023★ 1 cited
Sparse Waypoint Validity Checking for Self-Entanglement-Free Tethered Path Planning
Tong Yang, Jiangpin Liu, Yue Wang +1
A novel mechanism to derive self-entanglement-free (SEF) path for tethered differential-driven robots is proposed in this work. The problem is tailored to the deployment of tethere…
cs.RO2021★ 1 cited
Kinematic Motion Retargeting via Neural Latent Optimization for Learning Sign Language
Haodong Zhang, Weijie Li, Jiangpin Liu +4
Motion retargeting from a human demonstration to a robot is an effective way to reduce the professional requirements and workload of robot programming, but faces the challenges res…