1 citations · 1 across the 6 of their papers we have counts for
6 papers
ContactDP: Contact-Guided Diffusion Policy for Tight Insertion Tasks
Chengyi Xing, Shaoxiong Yao, Diego Romeres +1
High-precision connector insertion remains challenging for robotic systems due to tight mechanical tolerances, partial observability during contact, and multimodal uncertainty aris…
Guava: Distilling Frontier VLMs into a Compact Agent through a Robotic Manipulation Harness
Haowen Liu, Xirui Li, Shaoxiong Yao +5
Language models trained on large-scale vision-language data have demonstrated strong potential for embodied agents. Harnessing models through embodied tools use offers a promising…
Flexible Multitask Learning with Factorized Diffusion Policy
Chaoqi Liu, Haonan Chen, Sigmund H. Høeg +4
Multitask learning poses significant challenges due to the highly multimodal and diverse nature of robot action distributions. However, effectively fitting policies to these comple…
SIMPACT: Simulation-Enabled Action Planning using Vision-Language Models
Haowen Liu, Shaoxiong Yao, Haonan Chen +4
Vision-Language Models (VLMs) exhibit remarkable common-sense and semantic reasoning capabilities. However, they lack a grounded understanding of physical dynamics. This limitation…
Safe Leaf Manipulation for Accurate Shape and Pose Estimation of Occluded Fruits
Shaoxiong Yao, Sicong Pan, Maren Bennewitz +1
Fruit monitoring plays an important role in crop management, and rising global fruit consumption combined with labor shortages necessitates automated monitoring with robots. Howeve…
3D Force and Contact Estimation for a Soft-Bubble Visuotactile Sensor Using FEM
Jing-Chen Peng, Shaoxiong Yao, Kris Hauser
Soft-bubble tactile sensors have the potential to capture dense contact and force information across a large contact surface. However, it is difficult to extract contact forces dir…