PKU CoRe Lab
PKU CoRe Lab
Home
People
Research
Themes
Publications
Downloads
Videos
Talks
Manipulation
[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
PDF
Cite
Code
Video
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
PDF
Cite
Code
Video
Web
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
PDF
Cite
Code
Video
Web
[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
PDF
Cite
Code
Video
Web
[ScienceRobotics19] A tale of two explanations: Enhancing human trust by explaining robot behavior
The ability to provide comprehensive explanations of chosen actions is a hallmark of intelligence. Lack of this ability impedes the …
Mark Edmonds
,
Feng Gao
,
Hangxin Liu
,
Xu Xie
,
Siyuan Qi
,
Brandon Rothrock
,
Yixin Zhu
,
Ying Nian Wu
,
Hongjing Lu
,
Song-Chun Zhu
PDF
Cite
Code
Video
Summary Video
Supp
Smithsonian
IEEE Spectrum
UCLA Samueli School of Engineering
Web
[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
PDF
Cite
Code
Video
Web
[ICRA19] High-Fidelity Grasping in Virtual Reality using a Glove-based System
This paper presents a design that jointly provides hand pose sensing, hand localization, and haptic feedback to facilitate real-time …
Hangxin Liu
,
Zhenliang Zhang
,
Xu Xie
,
Yixin Zhu
,
Yue Liu
,
Yongtian Wang
,
Song-Chun Zhu
PDF
Cite
Code
Poster
Video
[AAAI19] Mirroring without Overimitation: Learning Functionally Equivalent Manipulation Actions
This paper presents a mirroring approach, inspired by the neuroscience discovery of the mirror neurons, to transfer demonstrated …
Hangxin Liu
,
Chi Zhang
,
Yixin Zhu
,
Chenfanfu Jiang
,
Song-Chun Zhu
PDF
Cite
Poster
Blog
[ICRA18] Unsupervised Learning using Hierarchical Models for Hand-Object Interactions
Contact forces of the hand are visually unobservable, but play a crucial role in understanding hand-object interactions. In this paper, …
Xu Xie
,
Hangxin Liu
,
Mark Edmonds
,
Feng Gao
,
Siyuan Qi
,
Yixin Zhu
,
Brandon Rothrock
,
Song-Chun Zhu
PDF
Cite
Code
Poster
Video
[IROS17] A Glove-based System for Studying Hand-Object Manipulation via Joint Pose and Force Sensing
We present a design of an easy-to-replicate glove-based system that can reliably perform simultaneous hand pose and force sensing in …
Hangxin Liu
,
Xu Xie
,
Mark Edmonds
,
Feng Gao
,
Yixin Zhu
,
Veronica Santos
,
Brandon Rothrock
,
Song-Chun Zhu
PDF
Cite
Code
«
»
Cite
×