4 papers
GeoFIK: A Fast and Reliable Geometric Solver for the IK of the Franka Arm based on Screw Theory Enabling Multiple Redundancy Parameters
Pablo C. Lopez-Custodio, Yuhe Gong, Luis F. C. Figueredo
Modern robotics applications require an inverse kinematics (IK) solver that is fast, robust and consistent, and that provides all possible solutions. Currently, the Franka robot ar…
Contact-Safe Reinforcement Learning with ProMP Reparameterization and Energy Awareness
Bingkun Huang, Yuhe Gong, Zewen Yang +2
Reinforcement learning (RL) approaches based on Markov Decision Processes (MDPs) are predominantly applied in the robot joint space, often relying on limited task-specific informat…
GELATO: Multi-Instruction Trajectory Reshaping via Geometry-Aware Multiagent-based Orchestration
Junhui Huang, Yuhe Gong, Changsheng Li +2
We present GELATO -- the first language-driven trajectory reshaping framework to embed geometric environment awareness and multi-agent feedback orchestration to support multi-instr…
GeoPF: Infusing Geometry into Potential Fields for Reactive Planning in Non-trivial Environments
Yuhe Gong, Riddhiman Laha, Luis Figueredo
Reactive intelligence remains one of the cornerstones of versatile robotics operating in cluttered, dynamic, and human-centred environments. Among reactive approaches, potential fi…