6 papers
Video-to-BT: Generating Reactive Behavior Trees from Human Demonstration Videos for Robotic Assembly
Xiwei Zhao, Yiwei Wang, Yansong Wu +5
Modern manufacturing demands robotic assembly systems with enhanced flexibility and reliability. However, traditional approaches often rely on programming tailored to each product…
Direction Informed Trees (DIT*): Optimal Path Planning via Direction Filter and Direction Cost Heuristic
Liding Zhang, Kejia Chen, Kuanqi Cai +7
Optimal path planning requires finding a series of feasible states from the starting point to the goal to optimize objectives. Popular path planning algorithms, such as Effort Info…
LLM-as-BT-Planner: Leveraging LLMs for Behavior Tree Generation in Robot Task Planning
Jicong Ao, Fan Wu, Yansong Wu +2
Robotic assembly tasks remain an open challenge due to their long horizon nature and complex part relations. Behavior trees (BTs) are increasingly used in robot task planning for t…
Pretrained Bayesian Non-parametric Knowledge Prior in Robotic Long-Horizon Reinforcement Learning
Yuan Meng, Xiangtong Yao, Kejia Chen +4
Reinforcement learning (RL) methods typically learn new tasks from scratch, often disregarding prior knowledge that could accelerate the learning process. While some methods incorp…
SharedAssembly: A Data Collection Approach via Shared Tele-Assembly
Yansong Wu, Xiao Chen, Yu Chen +6
High-precision, tight-clearance assembly demonstrations are indispensable for training tactile-aware robotic foundation models, yet their acquisition is heavily bottlenecked by the…
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…