3 papers
cs.RO2026
Outcome-Sensitive Motion Search for Impact-Aware Dexterous Catching
Guorui Pei, Jinsong Wu, Songyuan Su +5
Skilled humans can catch fast-moving objects softly by coordinating interception, velocity matching, and follow-through to mitigate impact. Learning such impact-aware catching with…
cs.RO2026
World Models for Robotic Manipulation: A Survey
Fangyuan Wang, Ziyuan Wang, Guorui Pei +15
Robotic manipulation depends on the ability to anticipate how actions reshape objects, contacts, and scene geometry before execution. Learned world models provide this capability b…
cs.RO2026
Learning a Kinodynamic Trajectory Manifold for Impact-Aware Compliant Catching of Fast-Moving Objects
Guorui Pei, Mengshi Zhang, Xi Chen +3
Fast catching of free-flying objects is difficult because of short reaction time, impact uncertainty, and kinodynamic constraints. We use reinforcement learning in simulation to co…