7 papers
FlowHOI: Flow-based Semantics-Grounded Generation of Hand-Object Interactions for Dexterous Robot Manipulation
Huajian Zeng, Lingyun Chen, Jiaqi Yang +4
Recent vision-language-action (VLA) models can generate plausible end-effector motions, yet they often fail in long-horizon, contact-rich tasks because the underlying hand-object i…
Safe and Stable Neural Network Dynamical Systems for Robot Motion Planning
Allen Emmanuel Binny, Mahathi Anand, Hugo T. M. Kussaba +4
Learning safe and stable robot motions from demonstrations remains a challenge, especially in complex, nonlinear tasks involving dynamic, obstacle-rich environments. In this paper,…
TacUMI: A Multi-Modal Universal Manipulation Interface for Contact-Rich Tasks
Tailai Cheng, Kejia Chen, Lingyun Chen +8
Task decomposition is critical for understanding and learning complex long-horizon manipulation tasks. Especially for tasks involving rich physical interactions, relying solely on…
Elliptical K-Nearest Neighbors -- Path Optimization via Coulomb's Law and Invalid Vertices in C-space Obstacles
Liding Zhang, Zhenshan Bing, Yu Zhang +5
Path planning has long been an important and active research area in robotics. To address challenges in high-dimensional motion planning, this study introduces the Force Direction…
LEMMo-Plan: LLM-Enhanced Learning from Multi-Modal Demonstration for Planning Sequential Contact-Rich Manipulation Tasks
Kejia Chen, Zheng Shen, Yue Zhang +5
Large Language Models (LLMs) have gained popularity in task planning for long-horizon manipulation tasks. To enhance the validity of LLM-generated plans, visual demonstrations and…
TacDiffusion: Force-domain Diffusion Policy for Precise Tactile Manipulation
Yansong Wu, Zongxie Chen, Fan Wu +6
Assembly is a crucial skill for robots in both modern manufacturing and service robotics. However, mastering transferable insertion skills that can handle a variety of high-precisi…