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[IROS23] Part-level Scene Reconstruction Affords Robot Interaction
Existing methods for reconstructing interactive scenes primarily focus on replacing reconstructed objects with CAD models retrieved …
Zeyu Zhang
,
Lexing Zhang
,
Zaijin Wang
,
Ziyuan Jiao
,
Muzhi Han
,
Yixin Zhu
,
Song-Chun Zhu
,
Hangxin Liu
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Code
Poster
Video
Web
[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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Poster
Video
[CVPR23] Diffusion-based Generation, Optimization, and Planning in 3D Scenes
We introduce SceneDiffuser, a conditional generative model for 3D scene understanding. SceneDiffuser provides a unified model for …
Siyuan Huang
,
Zan Wang
,
Puhao Li
,
Baoxiong Jia
,
Tengyu Liu
,
Yixin Zhu
,
Wei Liang
,
Song-Chun Zhu
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Poster
Video
Supp
Web
Hugging Face
Checkpoints
北大AI院官微
Interactive Reasoning
[Robotics meets Cognition]
Topics include communication, manipulation, TAMP, teaming, UAV, VR, and XAI.
Zihang Zhao
,
Yuyang Li
,
Yida Niu
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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Code
Video
Web
北大新闻网
北大AI院官网
北大AI院官微
[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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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
Cite
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![[IROS23] Part-level Scene Reconstruction Affords Robot Interaction](/publication/scenereconstruction2023iros/featured_hu4261188625789613267.webp)
![[IROS23] Sequential Manipulation Planning for Over-actuated Unmanned Aerial Manipulators](/publication/vkc-uav2023iros/featured_hu13569711390501305105.webp)
![[CVPR23] Diffusion-based Generation, Optimization, and Planning in 3D Scenes](/publication/scenediffusion2023cvpr/featured_hu8130146721824074358.webp)
![[IROS22] Sequential Manipulation Planning on Scene Graph](/publication/vkc-planning2022iros/featured_hu5518517313744296316.webp)
![[IROS21] Consolidating Kinematic Models to Promote Coordinated Mobile Manipulations](/publication/vkc-motion2021iros/featured_hu10948186600229379215.webp)
![[IROS21] Efficient Task Planning for Mobile Manipulation: a Virtual Kinematic Chain Perspective](/publication/vkc-task2021iros/featured_hu11548734196514779112.webp)