10 papers
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…
NeuPAN: Direct Point Robot Navigation with End-to-End Model-based Learning
Ruihua Han, Shuai Wang, Shuaijun Wang +8
Navigating a nonholonomic robot in a cluttered, unknown environment requires accurate perception and precise motion control for real-time collision avoidance. This paper presents N…
An Interval Branch-and-Bound-Based Inverse Kinemetics Algorithm Towards Global Optimal Redundancy Resolution
Yajue Yang, Zeqing Zhang, Yuanqing Wu +1
The general inverse kinematics (IK) problem of a manipulator, namely that of acquiring the self-motion manifold (SMM) of all admissible joint angles for a desired end-effector pose…
Dynamic Resilient Spatio-Semantic Memory with Hybrid Localization for Mobile Manipulation
Zhijie Yan, Shufei Li, Ze Zhang +3
Reliable mobile manipulation in dynamic indoor environments requires a scene representation that remains geometrically consistent, semantically queryable, and computationally bound…
World Models for Robotic Manipulation: A Survey
Fangyuan Wang, Ziyuan Wang, Guorui Pei +15
Robotic manipulation depends on the ability to anticipate how actions reshape objects, contacts, and scene geometry before execution. Learned world models provide this capability b…
A Dataset and Benchmark for Robotic Cloth Unfolding Grasp Selection: The ICRA 2024 Cloth Competition
Victor-Louis De Gusseme, Thomas Lips, Remko Proesmans +59
Robotic cloth manipulation suffers from a lack of standardized benchmarks and shared datasets for evaluating and comparing different approaches. To address this, we created a bench…