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Manipulation
[IROS23] Learning a Causal Transition Model for Object Cutting
Cutting objects into desired fragments is challenging for robots due to the spatially unstructured nature of fragments and the complex …
Zeyu Zhang
,
Muzhi Han
,
Baoxiong Jia
,
Ziyuan Jiao
,
Yixin Zhu
,
Song-Chun Zhu
,
Hangxin Liu
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[IROS23] Sequential Manipulation Planning for Over-actuated Unmanned Aerial Manipulators
We investigate the sequential manipulation planning problem for unmanned aerial manipulators (UAMs). Unlike prior work that primarily …
Yao Su
,
Jiarui Li
,
Ziyuan Jiao
,
Meng Wang
,
Chi Chu
,
Hang Li
,
Yixin Zhu
,
Hangxin Liu
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[ICRA23] GenDexGrasp: Generalizable Dexterous Grasping
Generating dexterous grasping has been a long-standing and challenging robotic task. Despite recent progress, existing methods …
Puhao Li
,
Tengyu Liu
,
Yuyang Li
,
Yiran Geng
,
Yixin Zhu
,
Yaodong Yang
,
Siyuan Huang
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北大AI院官网
北大AI院官微
[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
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Interactive Reasoning
[Robotics meets Cognition]
Topics include communication, manipulation, TAMP, teaming, UAV, VR, and XAI.
Guangyuan Jiang
,
Yuyang Li
,
Yida Niu
,
Zihang Zhao
Aug 1, 2022
[IROS22] Sequential Manipulation Planning on Scene Graph
We devise a 3D scene graph representation, contact graph+ (cg+), for efficient sequential manipulation planning. Augmented with …
Ziyuan Jiao
,
Yida Niu
,
Zeyu Zhang
,
Song-Chun Zhu
,
Yixin Zhu
,
Hangxin Liu
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北大新闻网
北大AI院官网
北大AI院官微
[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
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北大新闻网
北大AI院官网
北大AI院官微
[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
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Erratum
[IROS21] Consolidating Kinematic Models to Promote Coordinated Mobile Manipulations
We construct a Virtual Kinematic Chain (VKC) that readily consolidates the kinematics of the mobile base, the arm, and the object to be …
Ziyuan Jiao
,
Zeyu Zhang
,
Xin Jiang
,
David Han
,
Song-Chun Zhu
,
Yixin Zhu
,
Hangxin Liu
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[IROS21] Efficient Task Planning for Mobile Manipulation: a Virtual Kinematic Chain Perspective
We present a Virtual Kinematic Chain (VKC) perspective, a simple yet effective method, to improve task planning efficacy for mobile …
Ziyuan Jiao
,
Zeyu Zhang
,
Weiqi Wang
,
David Han
,
Song-Chun Zhu
,
Yixin Zhu
,
Hangxin Liu
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