6 papers
Push-Wiper: Toward General-Purpose Robotic Cleaning across Varied Stains and Surfaces with Segmented Pushing Trajectories
Renhao Lu, Mingxin Wang, Chenyang Cao +5
Viscous stains, characterized by high viscosity and complex rheological properties, remain a major challenge for robotic surface cleaning. Conventional wiping often spreads the sta…
Stage-Transition Dense Reward Modeling for Reinforcement Learning
Yang Yang, Bingjie Chen, Zihan Wang +4
Reinforcement learning for long-horizon robotic manipulation is often limited by sparse and delayed rewards, while manually designing dense shaping signals is costly and brittle to…
PhaForce: Phase-Scheduled Visual-Force Policy Learning with Slow Planning and Fast Correction for Contact-Rich Manipulation
Mingxin Wang, Zhirun Yue, Renhao Lu +7
Contact-rich manipulation requires not only vision-dominant task semantics but also closed-loop reactions to force/torque (F/T) transients. Yet, generative visuomotor policies are…
PMG: Parameterized Motion Generator for Human-like Locomotion Control
Chenxi Han, Yuheng Min, Zihao Huang +4
Recent advances in data-driven reinforcement learning and motion tracking have substantially improved humanoid locomotion, yet critical practical challenges remain. In particular,…
HL-IK: A Lightweight Implementation of Human-Like Inverse Kinematics in Humanoid Arms
Bingjie Chen, Zihan Wang, Zhe Han +3
Traditional IK methods for redundant humanoid manipulators emphasize end-effector (EE) tracking, frequently producing configurations that are valid mechanically but not human-like.…
A Step Toward World Models: A Survey on Robotic Manipulation
Peng-Fei Zhang, Ying Cheng, Xiaofan Sun +4
Autonomous agents are increasingly expected to operate in complex, dynamic, and uncertain environments, performing tasks such as manipulation, navigation, and decision-making. Achi…