5 papers
PAIWorld: A 3D-Consistent World Foundation Model for Robotic Manipulation
Yuhang Huang, Xuan Lv, Junyan Xu +25
World foundation models (WFMs) are powerful simulators, yet they predominantly operate in a single-view setting and lack the multi-view 3D consistency required for robotic manipula…
Physics-Informed Eikonal Caging for Whole-Arm Manipulation Planning
Yan Zhang, Yiming Li, Yifei Dong +2
Planning contact-rich whole-arm manipulation is challenging because interactions that involve extended robot geometry give rise to complex contact dynamics that are difficult to mo…
Monte Carlo Tree Search with Tensor Factorization for Optimization Problems in Robotics
Teng Xue, Yan Zhang, Amirreza Razmjoo +1
Many robotic tasks, such as inverse kinematics, motion planning, and contact-rich manipulation, can be formulated as optimization problems. Solving these problems requires addressi…
Robustness-Aware Tool Selection and Manipulation Planning with Learned Energy-Informed Guidance
Yifei Dong, Yan Zhang, Sylvain Calinon +1
Humans subconsciously choose robust ways of selecting and using tools, for example, choosing a ladle over a flat spatula to serve meatballs. However, robustness under external dist…
Learn2Decompose: Learning Problem Decomposition for Efficient Sequential Multi-object Manipulation Planning
Yan Zhang, Teng Xue, Amirreza Razmjoo +1
We present an efficient task and motion replanning approach for sequential multi-object manipulation in dynamic environments. Conventional Task And Motion Planning (TAMP) solvers e…