22 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…
Behavior Uncloning: Distilling Mode Redirection into Policy Weights without Inference-Time Steering
Hao Wang, Jiuzhou Lei, Dayou Li +5
Behavior-cloned policies often learn multiple behavior modes from demonstration datasets, including modes that are unsafe or otherwise undesired at deployment. For example, a polic…
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…
Flow Motion Policy: Manipulator Motion Planning with Flow Matching Models
Davood Soleymanzadeh, Xiao Liang, Minghui Zheng
Open-loop end-to-end neural motion planners have recently been proposed to improve motion planning for robotic manipulators. These methods enable planning directly from sensor obse…
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…
Toward Generalist Neural Motion Planners for Robotic Manipulators: Challenges and Opportunities
Davood Soleymanzadeh, Ivan Lopez-Sanchez, Hao Su +3
State-of-the-art generalist manipulation policies have enabled the deployment of robotic manipulators in unstructured human environments. However, these frameworks struggle in clut…