3 papers
cs.RO2023
Rearrange Indoor Scenes for Human-Robot Co-Activity
Weiqi Wang, Zihang Zhao, Ziyuan Jiao +3
We present an optimization-based framework for rearranging indoor furniture to accommodate human-robot co-activities better. The rearrangement aims to afford sufficient accessible…
cs.RO2022
Understanding Physical Effects for Effective Tool-use
Zeyu Zhang, Ziyuan Jiao, Weiqi Wang +3
We present a robot learning and planning framework that produces an effective tool-use strategy with the least joint efforts, capable of handling objects different from training. L…
cs.RO2021
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…