17 papers
Transforming Remanufacturing Automation with Large Language Models: A Forward-Looking Analysis with Case Studies
Chang Liu, Sara Behdad, Prabhakar Pagilla +2
With growing concerns about resource scarcity and environmental degradation, remanufacturing of end-of-life (EoL) products within the circular economy is attracting increasing atte…
Constrained MPC-Based Motion Planning for Morphing Quadrotors in Ultra-Narrow Passages under Limited Perception
Harsh Modi, Xiao Liang, Minghui Zheng
This paper introduces a motion planning framework to plan morphology and trajectory for morphing quadrotors under extremely constrained environments. We develop a novel obstacle av…
Redefining End-of-Life: Intelligent Automation for Electronics Remanufacturing Systems
Sibo Tian, Xiao Liang, Sara Behdad +1
Remanufacturing is fundamentally more challenging than traditional manufacturing due to the significant uncertainty, variability, and incompleteness inherent in end-of-life (EoL) p…
Learning When to See and When to Feel: Adaptive Vision-Torque Fusion for Contact-Aware Manipulation
Jiuzhou Lei, Chang Liu, Yu She +2
Vision-based policies have achieved a good performance in robotic manipulation due to the accessibility and richness of visual observations. However, purely visual sensing becomes…
SELF-VLA: A Skill Enhanced Agentic Vision-Language-Action Framework for Contact-Rich Disassembly
Chang Liu, Sibo Tian, Xiao Liang +1
Disassembly automation has long been pursued to address the growing demand for efficient and proper recovery of valuable components from the end-of-life (EoL) electronic products.…
TATIC: Task-Aware Temporal Learning for Human Intent Inference from Physical Corrections in Human-Robot Collaboration
Jiurun Song, Xiao Liang, Minghui Zheng
In human-robot collaboration (HRC), robots must adapt online to dynamic task constraints and evolving human intent. While physical corrections provide a natural, low-latency channe…