217 citations · 687 across the 55 of their papers we have counts for
10 papers · 1 filter
Learning Practically Feasible Policies for Online 3D Bin Packing
Hang Zhao, Chenyang Zhu, Xin Xu +2
We tackle the Online 3D Bin Packing Problem, a challenging yet practically useful variant of the classical Bin Packing Problem. In this problem, the items are delivered to the agen…
Autonomous Outdoor Scanning via Online Topological and Geometric Path Optimization
Pengdi Huang, Liqiang Lin, Kai Xu +1
Autonomous 3D acquisition of outdoor environments poses special challenges. Different from indoor scenes, where the room space is delineated by clear boundaries and separations (e.…
Towards Target-Driven Visual Navigation in Indoor Scenes via Generative Imitation Learning
Qiaoyun Wu, Xiaoxi Gong, Kai Xu +3
We present a target-driven navigation system to improve mapless visual navigation in indoor scenes. Our method takes a multi-view observation of a robot and a target as inputs at e…
Deep Differentiable Grasp Planner for High-DOF Grippers
Min Liu, Zherong Pan, Kai Xu +2
We present an end-to-end algorithm for training deep neural networks to grasp novel objects. Our algorithm builds all the essential components of a grasping system using a forward-…
Reinforcement Learning-based Visual Navigation with Information-Theoretic Regularization
Qiaoyun Wu, Kai Xu, Jun Wang +3
To enhance the cross-target and cross-scene generalization of target-driven visual navigation based on deep reinforcement learning (RL), we introduce an information-theoretic regul…
New Formulation of Mixed-Integer Conic Programming for Globally Optimal Grasp Planning
Min Liu, Zherong Pan, Kai Xu +1
We present a two-level branch-and-bound (BB) algorithm to compute the optimal gripper pose that maximizes a grasp metric in a restricted search space. Our method can take the gripp…
NeoNav: Improving the Generalization of Visual Navigation via Generating Next Expected Observations
Qiaoyun Wu, Dinesh Manocha, Jun Wang +1
We propose improving the cross-target and cross-scene generalization of visual navigation through learning an agent that is guided by conceiving the next observations it expects to…
Globally Optimal Joint Search of Topology and Trajectory for Planar Linkages
Zherong Pan, Min Liu, Xifeng Gao +2
We present a method to find globally optimal topology and trajectory jointly for planar linkages. Planar linkage structures can generate complex end-effector trajectories using onl…
Generating Grasp Poses for a High-DOF Gripper Using Neural Networks
Min Liu, Zherong Pan, Kai Xu +2
We present a learning-based method for representing grasp poses of a high-DOF hand using neural networks. Due to redundancy in such high-DOF grippers, there exists a large number o…
Caging Loops in Shape Embedding Space: Theory and Computation
Jian Liu, Shiqing Xin, Zengfu Gao +3
We propose to synthesize feasible caging grasps for a target object through computing Caging Loops, a closed curve defined in the shape embedding space of the object. Different fro…