6 papers · 1 filter
Decompose and Reorganize: Planning with Primitives and Visuomotor Policies Learned from Demonstrations
Yizhou Chen, Hang Xu, Dongjie Yu +7
Successfully automating dexterous, long-horizon robotic manipulation requires frameworks capable of both high-level reasoning and fine-grained execution. Traditional task and motio…
Keypose Exploration: Efficient Automatic Trajectory Labelling and Cross-Embodiment Policy Transfer
Yupu Lu, Hang Xu, Yizhou Chen +1
Keypose-based manipulation decomposes tasks into critical waypoints to simplify policy learning for long-horizon tasks, but existing approaches rely on task-specific heuristics or…
Shared Autonomy Assisted by Impedance-Driven Anisotropic Guidance Field
Sihan Chen, Hang Xu, Yupu Lu +4
Shared autonomy (SA) enables robots to infer human intent and assist in its achievement. While most research focuses on improving intent inference, it overlooks whether humans can…
BiKC+: Bimanual Hierarchical Imitation with Keypose-Conditioned Coordination-Aware Consistency Policies
Hang Xu, Yizhou Chen, Dongjie Yu +2
Robots are essential in industrial manufacturing due to their reliability and efficiency. They excel in performing simple and repetitive unimanual tasks but still face challenges w…
SViP: Sequencing Bimanual Visuomotor Policies with Object-Centric Motion Primitives
Yizhou Chen, Hang Xu, Dongjie Yu +3
Imitation learning (IL), particularly when leveraging high-dimensional visual inputs for policy training, has proven intuitive and effective in complex bimanual manipulation tasks.…
BiKC: Keypose-Conditioned Consistency Policy for Bimanual Robotic Manipulation
Dongjie Yu, Hang Xu, Yizhou Chen +2
Bimanual manipulation tasks typically involve multiple stages which require efficient interactions between two arms, posing step-wise and stage-wise challenges for imitation learni…