9 papers
A Tactile-based Interactive Motion Planner for Robots in Unknown Cluttered Environments
Chengjin Wang, Yanmin Zhou, Zheng Yan +5
In unknown cluttered environments with densely stacked objects, the free-motion space is extremely barren, posing significant challenges to motion planners. Collision-free planning…
Morphogenetic Assembly and Adaptive Control for Heterogeneous Modular Robots
Chongxi Meng, Da Zhao, Yifei Zhao +4
This paper presents a closed-loop automation framework for heterogeneous modular robots, covering the full pipeline from morphological construction to adaptive control. In this fra…
HAFO: A Force-Adaptive Control Framework for Humanoid Robots in Intense Interaction Environments
Chenhui Dong, Haozhe Xu, Wenhao Feng +4
Reinforcement learning (RL) controllers have made impressive progress in humanoid locomotion and light-weight object manipulation. However, achieving robust and precise motion cont…
PaiP: An Operational Aware Interactive Planner for Unknown Cabinet Environments
Chengjin Wang, Zheng Yan, Yanmin Zhou +4
Box/cabinet scenarios with stacked objects pose significant challenges for robotic motion due to visual occlusions and constrained free space. Traditional collision-free trajectory…
Language-Guided Long Horizon Manipulation with LLM-based Planning and Visual Perception
Changshi Zhou, Haichuan Xu, Ningquan Gu +7
Language-guided long-horizon manipulation of deformable objects presents significant challenges due to high degrees of freedom, complex dynamics, and the need for accurate vision-l…
Learning Efficient Robotic Garment Manipulation with Standardization
Changshi Zhou, Feng Luan, Jiarui Hu +5
Garment manipulation is a significant challenge for robots due to the complex dynamics and potential self-occlusion of garments. Most existing methods of efficient garment unfoldin…