Article-Journal

[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

[Engineering23] A Reconfigurable Data Glove for Reconstructing Physical and Virtual Grasps

In this work, we present a reconfigurable data glove design to capture different modes of human hand-object interactions, which are …

Hangxin Liu, Zeyu Zhang, Ziyuan Jiao, Zhenliang Zhang, Minchen Li, Chenfanfu Jiang, Yixin Zhu, Song-Chun Zhu

[Engineering23] A Reconfigurable Data Glove for Reconstructing Physical and Virtual Grasps

[IJCV22] Scene Reconstruction with Functional Objects for Robot Autonomy

In this paper, we rethink the problem of scene reconstruction from an embodied agent’s perspective: While the classic view focuses on …

Muzhi Han, Zeyu Zhang, Ziyuan Jiao, Xu Xie, Yixin Zhu, Song-Chun Zhu, Hangxin Liu

[IJCV22] Scene Reconstruction with Functional Objects for Robot Autonomy

[RA-L/IROS22] Understanding Physical Effects for Effective Tool-use

We present a robot learning and planning framework that produces an effective tool-use strategy with the least joint efforts, capable …

Zeyu Zhang, Ziyuan Jiao, Weiqi Wang, Yixin Zhu, Song-Chun Zhu, Hangxin Liu

[RA-L/IROS22] Understanding Physical Effects for Effective Tool-use

[JCB2022] Sharing Rewards Undermines Coordinated Hunting

Coordinated hunting is widely observed in animals, and sharing rewards is often considered a major incentive for its success. While …

Minglu Zhao, Ning Tang, Annya Dahmani, Yixin Zhu, Federico Rossano, Tao Gao

[JCB2022] Sharing Rewards Undermines Coordinated Hunting

[RA-L/ICRA22] Object Gathering with a Tethered Robot Duo

We devise a cooperative planning framework to generate optimal trajectories for a tethered robot duo, who is tasked to gather scattered …

Yao Su, Yuhong Jiang, Yixin Zhu, Hangxin Liu

[AAIL21] Patching interpretable And-Or-Graph knowledge representation using augmented reality

We present a novel augmented reality (AR) interface to provide effective means to diagnose a robot’s erroneous behaviors, endow …

Hangxin Liu, Yixin Zhu, Song-Chun Zhu

[AAIL21] Patching interpretable And-Or-Graph knowledge representation using augmented reality

[RA-L21] Synthesizing Diverse and Physically Stable Grasps with Arbitrary Hand Structures using Differentiable Force Closure Estimator

Existing grasp synthesis methods are either analytical or data-driven. The former one is oftentimes limited to specific application …

Tengyu Liu, Zeyu Liu, Ziyuan Jiao, Yixin Zhu, Song-Chun Zhu

[RA-L21] Synthesizing Diverse and Physically Stable Grasps with Arbitrary Hand Structures using Differentiable Force Closure Estimator