215 citations · 2.3k across the 165 of their papers we have counts for
11 papers · 1 filter
Sim2Plan: Robot Motion Planning via Message Passing between Simulation and Reality
Yizhou Zhao, Yuanhong Zeng, Qian Long +2
Simulation-to-real is the task of training and developing machine learning models and deploying them in real settings with minimal additional training. This approach is becoming in…
Towards Human-Level Bimanual Dexterous Manipulation with Reinforcement Learning
Yuanpei Chen, Tianhao Wu, Shengjie Wang +8
Achieving human-level dexterity is an important open problem in robotics. However, tasks of dexterous hand manipulation, even at the baby level, are challenging to solve through re…
Consolidating Kinematic Models to Promote Coordinated Mobile Manipulations
Ziyuan Jiao, Zeyu Zhang, Xin Jiang +4
We construct a Virtual Kinematic Chain (VKC) that readily consolidates the kinematics of the mobile base, the arm, and the object to be manipulated in mobile manipulations. Accordi…
Efficient Task Planning for Mobile Manipulation: a Virtual Kinematic Chain Perspective
Ziyuan Jiao, Zeyu Zhang, Weiqi Wang +4
We present a Virtual Kinematic Chain (VKC) perspective, a simple yet effective method, to improve task planning efficacy for mobile manipulation. By consolidating the kinematics of…
Synthesizing Diverse and Physically Stable Grasps with Arbitrary Hand Structures using Differentiable Force Closure Estimator
Tengyu Liu, Zeyu Liu, Ziyuan Jiao +2
Existing grasp synthesis methods are either analytical or data-driven. The former one is oftentimes limited to specific application scope. The latter one depends heavily on demonst…
Reconstructing Interactive 3D Scenes by Panoptic Mapping and CAD Model Alignments
Muzhi Han, Zeyu Zhang, Ziyuan Jiao +4
In this paper, we rethink the problem of scene reconstruction from an embodied agent's perspective: While the classic view focuses on the reconstruction accuracy, our new perspecti…