Article-Journal

[RA-L26] Simultaneous Tactile-Visual Perception for Learning Multimodal Robot Manipulation

Robotic manipulation requires both rich multimodal perception and effective learning frameworks to handle complex real-world tasks. …

Yuyang Li, Yinghan Chen, Zihang Zhao, Puhao Li, Tengyu Liu, Siyuan Huang, Yixin Zhu

[T-RO25] Integration of Robot and Scene Kinematics for Sequential Mobile Manipulation Planning

We present a Sequential Mobile Manipulation Planning (SMMP) framework that can solve long-horizon multi-step mobile manipulation tasks …

Ziyuan Jiao, Yida Niu, Zeyu Zhang, Yangyang Wu, Yao Su, Yixin Zhu, Hangxin Liu, Song-Chun Zhu

[T-RO25] Integration of Robot and Scene Kinematics for Sequential Mobile Manipulation Planning

[RA-L25] B*: Efficient and Optimal Base Placement for Fixed-Base Manipulators

Proper base placement is crucial for task execution feasibility and performance of fixed-base manipulators, the dominant solution in …

Zihang Zhao, Leiyao Cui, Sirui Xie, Saiyao Zhang, Zhi Han, Lecheng Ruan, Yixin Zhu

[RA-L25] B*: Efficient and Optimal Base Placement for Fixed-Base Manipulators

[NatureMachineIntelligence25] Embedding high-resolution touch across robotic hands enables adaptive human-like grasping

Developing robotic hands that adapt to real-world dynamics remains a fundamental challenge in robotics and machine intelligence. …

Zihang Zhao, Wanlin Li, Yuyang Li, Tengyu Liu, Boren Li, Meng Wang, Kai Du, Hangxin Liu, Yixin Zhu, Qining Wang, Kaspar Althoefer, Song-Chun Zhu

[NatureMachineIntelligence25] Embedding high-resolution touch across robotic hands enables adaptive human-like grasping

[T-RO25] Tac-Man: Tactile-Informed Prior-Free Manipulation of Articulated Objects

Integrating robotics into human-centric environments such as homes, necessitates advanced manipulation skills as robotic devices will …

Zihang Zhao, Yuyang Li, Wanlin Li, Zhenghao Qi, Lecheng Ruan, Yixin Zhu, Kaspar Althoefer

[RA-L24] MiniTac: An Ultra-Compact 8 mm Vision-Based Tactile Sensor for Enhanced Palpation in Robot-Assisted Minimally Invasive Surgery

Robot-assisted minimally invasive surgery (RAMIS) provides substantial benefits over traditional open and laparoscopic methods. …

Wanlin Li, Zihang Zhao, Leiyao Cui, Weiyi Zhang, Hangxin Liu, Li-an Li, Yixin Zhu

[RA-L24] MiniTac: An Ultra-Compact 8 mm Vision-Based Tactile Sensor for Enhanced Palpation in Robot-Assisted Minimally Invasive Surgery

[ScienceAdvances24] Human-level few-shot concept induction through minimax entropy learning

Humans learn concepts both from labeled supervision and by unsupervised observation of patterns, a process machines are being taught to …

Chi Zhang, Baoxiong Jia, Yixin Zhu, Song-Chun Zhu

[ScienceAdvances24] Human-level few-shot concept induction through minimax entropy learning

[RA-L24] Grasp Multiple Objects with One Hand

The intricate kinematics of the human hand enable simultaneous grasping and manipulation of multiple objects, essential for tasks such …

Yuyang Li, Bo Liu, Yiran Geng, Puhao Li, Yaodong Yang, Yixin Zhu, Tengyu Liu, Siyuan Huang

[AIR22] Artificial Social Intelligence: A Comparative and Holistic View

In addition to a physical comprehension of the world, humans possess a high social intelligence–the intelligence that senses …

Lifeng Fan, Manjie Xu, Zhihao Cao, Yixin Zhu, Song-Chun Zhu