5 papers
Exploring Pose-Guided Imitation Learning for Robotic Precise Insertion
Han Sun, Sheng Liu, Yizhao Wang +5
Imitation learning is promising for robotic manipulation, but \emph{precise insertion} in the real world remains difficult due to contact-rich dynamics, tight clearances, and limit…
Bridging Probabilistic Inference and Behavior Trees: An Interactive Framework for Adaptive Multi-Robot Cooperation
Chaoran Wang, Jingyuan Sun, Yanhui Zhang +1
This paper proposes an Interactive Inference Behavior Tree (IIBT) framework that integrates behavior trees (BTs) with active inference under the free energy principle for distribut…
ATRos: Learning Energy-Efficient Agile Locomotion for Wheeled-legged Robots
Jingyuan Sun, Hongyu Ji, Zihan Qu +2
Hybrid locomotion of wheeled-legged robots has recently attracted increasing attention due to their advantages of combining the agility of legged locomotion and the efficiency of w…
LLM-HBT: Dynamic Behavior Tree Construction for Adaptive Coordination in Heterogeneous Robots
Chaoran Wang, Jingyuan Sun, Yanhui Zhang +2
We introduce a novel framework for automatic behavior tree (BT) construction in heterogeneous multi-robot systems, designed to address the challenges of adaptability and robustness…
HANDO: Hierarchical Autonomous Navigation and Dexterous Omni-loco-manipulation
Jingyuan Sun, Chaoran Wang, Mingyu Zhang +6
Seamless loco-manipulation in unstructured environments requires robots to leverage autonomous exploration alongside whole-body control for physical interaction. In this work, we i…