Manipulation

[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, Yangdong Yang, Siyuan Huang

[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

Interactive Reasoning

[Robotics meets Cognition] Topics include communication, manipulation, TAMP, teaming, UAV, VR, and XAI.

Yida Niu, Guangyuan Jiang

Aug 1, 2022

Interactive Reasoning

[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

[IROS22] Sequential Manipulation Planning on Scene Graph

[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

[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

[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

[IROS21] Consolidating Kinematic Models to Promote Coordinated Mobile Manipulations

[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

[IROS21] Efficient Task Planning for Mobile Manipulation: a Virtual Kinematic Chain Perspective

[IROS19] Learning Virtual Grasp with Failed Demonstrations via Bayesian Inverse Reinforcement Learning

We propose Bayesian Inverse Reinforcement Learning with Failure (BIRLF), which makes use of failed demonstrations that were often …

Xu Xie, Changyang Li, Chi Zhang, Yixin Zhu, Song-Chun Zhu

[IROS19] Learning Virtual Grasp with Failed Demonstrations via Bayesian Inverse Reinforcement Learning