1 citations · 2 across the 7 of their papers we have counts for
8 papers
ConFlow: Constraints-Guided Learning with Flow Matching for Motion Generation
Nutan Chen, Jianxiang Feng, Marvin Alles +1
In recent years Flow Matching has become a prominent method for generative modeling robot motion generation. In its generic form Flow Matching is an ODE-based neural sampler that i…
SPIRIT: Perceptive Shared Autonomy for Robust Robotic Manipulation under Deep Learning Uncertainty
Jongseok Lee, Ribin Balachandran, Harsimran Singh +6
Deep learning (DL) has enabled impressive advances in robotic perception, yet its limited robustness and lack of interpretability hinder reliable deployment in safety critical appl…
LensDFF: Language-enhanced Sparse Feature Distillation for Efficient Few-Shot Dexterous Manipulation
Qian Feng, David S. Martinez Lema, Jianxiang Feng +2
Learning dexterous manipulation from few-shot demonstrations is a significant yet challenging problem for advanced, human-like robotic systems. Dense distilled feature fields have…
DexGANGrasp: Dexterous Generative Adversarial Grasping Synthesis for Task-Oriented Manipulation
Qian Feng, David S. Martinez Lema, Mohammadhossein Malmir +4
We introduce DexGanGrasp, a dexterous grasping synthesis method that generates and evaluates grasps with single view in real time. DexGanGrasp comprises a Conditional Generative Ad…
FFHFlow: Diverse and Uncertainty-Aware Dexterous Grasp Generation via Flow Variational Inference
Qian Feng, Jianxiang Feng, Zhaopeng Chen +2
Synthesizing diverse, uncertainty-aware grasps for multi-fingered hands from partial observations remains a critical challenge in robot learning. Prior generative methods struggle…
Language-Guided Object-Centric Diffusion Policy for Generalizable and Collision-Aware Robotic Manipulation
Hang Li, Qian Feng, Zhi Zheng +3
Learning from demonstrations faces challenges in generalizing beyond the training data and often lacks collision awareness. This paper introduces Lan-o3dp, a language-guided object…
Evaluating Uncertainty-based Failure Detection for Closed-Loop LLM Planners
Zhi Zheng, Qian Feng, Hang Li +2
Recently, Large Language Models (LLMs) have witnessed remarkable performance as zero-shot task planners for robotic manipulation tasks. However, the open-loop nature of previous wo…
Multi-fingered Dynamic Grasping for Unknown Objects
Yannick Burkhardt, Qian Feng, Jianxiang Feng +3
Dexterous grasping of unseen objects in dynamic environments is an essential prerequisite for the advanced manipulation of autonomous robots. Prior advances rely on several assumpt…