17 citations · 50 across the 52 of their papers we have counts for
24 papers · 1 filter
Coordinated Humanoid Manipulation with Choice Policies
Haozhi Qi, Yen-Jen Wang, Toru Lin +4
Humanoid robots hold great promise for operating in human-centric environments, yet achieving robust whole-body coordination across the head, hands, and legs remains a major challe…
CHyLL: Learning Continuous Neural Representations of Hybrid Systems
Sangli Teng, Hang Liu, Jingyu Song +1
Learning the flows of hybrid systems that have both continuous and discrete time dynamics is challenging. The existing method learns the dynamics in each discrete mode, which suffe…
MomaGraph: State-Aware Unified Scene Graphs with Vision-Language Model for Embodied Task Planning
Yuanchen Ju, Yongyuan Liang, Yen-Jen Wang +7
Mobile manipulators in households must both navigate and manipulate. This requires a compact, semantically rich scene representation that captures where objects are, how they funct…
Learning Dexterous Manipulation Skills from Imperfect Simulations
Elvis Hsieh, Wen-Han Hsieh, Yen-Jen Wang +4
Reinforcement learning and sim-to-real transfer have made significant progress in dexterous manipulation. However, progress remains limited by the difficulty of simulating complex…
Ego-Vision World Model for Humanoid Contact Planning
Hang Liu, Yuman Gao, Sangli Teng +5
Enabling humanoid robots to exploit physical contact, rather than simply avoid collisions, is crucial for autonomy in unstructured environments. Traditional optimization-based plan…
RoVerFly: Robust and Versatile Implicit Hybrid Control of Quadrotor-Payload Systems
Mintae Kim, Jiaze Cai, Koushil Sreenath
Designing robust controllers for precise trajectory tracking with quadrotors is challenging due to nonlinear dynamics and underactuation, and becomes harder with flexible cable-sus…