Xiang Li
Tsinghua University
収録論文 93本 ・ フィジカルAI/ロボット学習
マニピュレーション触覚ロボットポリシー評価評価基盤
※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。
論文
- アーム認識型誘導による器用な把持生成：アーム非依存把持モデルの活用マニピュレーション2026/8/17
事前学習済みのアーム非依存把持モデルを推論時にアーム情報と環境情報で誘導し、アーム制約を考慮した器用な把持を高確率で生成するフレームワークを提案した。
- ロボットのための視覚ベース触覚知能：センシング、学習、身体化された操作触覚2026/8/16
視覚ベース触覚センサ（VBTS）のハードウェア、学習手法、シミュレーション、データセットを統合したレビュー論文。接触による変形を画像化するVBTSのパイプライン全体を俯瞰し、今後の課題と方向性を示す。
- XPolicyLab: ロボットポリシー評価と展開のための統一標準・オープンエコシステムロボットポリシー評価2026/8/10
ロボットポリシーの評価と展開を統一する標準規格とオープンエコシステムを提案し、N個のポリシーとM個の環境の接続コストをO(NM)からO(N+M)に削減した。
- XPolicyLab: ロボットポリシー評価と展開のための統一標準・オープンエコシステム評価基盤2026/8/10
ロボットポリシーの評価と展開を統一する標準規格とオープンエコシステムを提案し、N個のポリシーとM個の環境の接続コストをO(NM)からO(N+M)に削減する。
- XPolicyLab: A Unified Standard and Open Ecosystem for Robot Policy Evaluation and Deployment2026/8/1
- ATP: Anatomical Torque with Passivity-based Control Framework for Safe Upper-Limb Exoskeleton Assistance2026/8/1
- CoorGrasp: Coordinated Contact Control for Adaptive Dexterous Grasping Under Uncertainty2026/7/1
- HUGS: Guiding Unified Dexterous Grasp Synthesis Across Modes and Scales via Learned Human Priors2026/7/1
- RL-MACRO: A Cybernetic Closed-Loop Intelligence Framework for Multimodal Adaptive Robotic Craniotomy2026/7/1
- TEA-AgriVLN: Traversability Estimation Alarm for Agricultural Vision-and-Language Navigation2026/7/1
- RadiusFPS: Efficient Farthest Point Sampling on CPUs and GPUs via Spherical Voxel Pruning2026/6/1
- Chronos: A Physics-Informed Full-History Framework for Non-Markovian Long-Horizon Manipulation2026/6/1
- Elastic Queries Reinforcement Learning: Self-Aware Policy Execution for VLA Models2026/6/1
- EmbodiSteer: Steering Embodiment-Agnostic Visuomotor Policies with Joint-Space Guidance for Zero-Shot Cross-Embodiment Deployment2026/6/1
- IMAC-AgriVLN: Can Agricultural Vision-and-Language Navigation Agents be Aware of Instruction Mistakes?2026/6/1
- From swept contact to pose: Probe-aware registration via complementary-shape docking2026/5/1
- UniLab: A Heterogeneous Architecture for Robot RL Beyond GPU-Dominant Paradigms2026/5/1
- PokeVLA: Empowering Pocket-Sized Vision-Language-Action Model with Comprehensive World Knowledge Guidance2026/4/1
- VistaBot: View-Robust Robot Manipulation via Spatiotemporal-Aware View Synthesis2026/4/1
- Latent-WAM: Latent World Action Modeling for End-to-End Autonomous Driving2026/3/1
- OmniVTA: Visuo-Tactile World Modeling for Contact-Rich Robotic Manipulation2026/3/1
- ManipulationNet: An Infrastructure for Benchmarking Real-World Robot Manipulation with Physical Skill Challenges and Embodied Multimodal Reasoning2026/3/1
- Adaptive Vision-Based Control of Redundant Robots with Null-Space Interaction for Human-Robot Collaboration2026/3/1
- Temporally Decoupled Diffusion Planning for Autonomous Driving2026/3/1
- TacVLA: Contact-Aware Tactile Fusion for Robust Vision-Language-Action Manipulation2026/3/1
- Sequence of Expert: Boosting Imitation Planners for Autonomous Driving through Temporal Alternation2025/12/1
- World In Your Hands: A Large-Scale and Open-Source Ecosystem for Learning Human-Centric Manipulation in the Wild2025/12/1
- Kinematics-Aware Diffusion Policy with Consistent 3D Observation and Action Space for Whole-Arm Robotic Manipulation2025/12/1
- MDE-AgriVLN: Agricultural Vision-and-Language Navigation with Monocular Depth Estimation2025/12/1
- VLSA: Vision-Language-Action Models with Plug-and-Play Safety Constraint Layer2025/12/1
- UniStateDLO: Unified Generative State Estimation and Tracking of Deformable Linear Objects Under Occlusion for Constrained Manipulation2025/12/1
- UltraDP: Generalizable Carotid Ultrasound Scanning with Force-Aware Diffusion Policy2025/11/1
- AIA-UltraNeRF:Acoustic-Impedance-Aware Neural Radiance Field with Hash Encodings for Robotic Ultrasound Reconstruction and Localization2025/11/1
- CGoT: A Novel Inference Mechanism for Embodied Multi-Agent Systems Using Composable Graphs of Thoughts2025/10/1
- SUM-AgriVLN: Spatial Understanding Memory for Agricultural Vision-and-Language Navigation2025/10/1
- T-araVLN: Translator for Agricultural Robotic Agents on Vision-and-Language Navigation2025/9/1
- UltraHiT: A Hierarchical Transformer Architecture for Generalizable Internal Carotid Artery Robotic Ultrasonography2025/9/1
- Pixel Motion Diffusion is What We Need for Robot Control2025/9/1
- AgriVLN: Vision-and-Language Navigation for Agricultural Robots2025/8/1
- A Semantic-Aware Framework for Safe and Intent-Integrative Assistance in Upper-Limb Exoskeletons2025/8/1
- GAF: Gaussian Action Field as a 4D Representation for Dynamic World Modeling in Robotic Manipulation2025/6/1
- Analyzing Key Objectives in Human-to-Robot Retargeting for Dexterous Manipulation2025/6/1
- DRARL: Disengagement-Reason-Augmented Reinforcement Learning for Efficient Improvement of Autonomous Driving Policy2025/6/1
- Pixel Motion as Universal Representation for Robot Control2025/5/1
- Robust Model-Based In-Hand Manipulation with Integrated Real-Time Motion-Contact Planning and Tracking2025/5/1
- Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning2025/4/1
- Towards Ambiguity-Free Spatial Foundation Model: Rethinking and Decoupling Depth Ambiguity2025/3/1
- Flow-Aware Navigation of Magnetic Micro-Robots in Complex Fluids via PINN-Based Prediction2025/3/1
- Robotic In-Hand Manipulation for Large-Range Precise Object Movement: The RGMC Champion Solution2025/2/1
- Scalable Benchmarking and Robust Learning for Noise-Free Ego-Motion and 3D Reconstruction from Noisy Video2025/1/1
- A Unified Interaction Control Framework for Safe Robotic Ultrasound Scanning with Human-Intention-Aware Compliance2024/11/1
- ManiSkill-ViTac 2025: Challenge on Manipulation Skill Learning With Vision and Tactile Sensing2024/11/1
- Swarm manipulation: An efficient and accurate technique for multi-object manipulation in virtual reality2024/10/1
- Non-contact Dexterous Micromanipulation with Multiple Optoelectronic Robots2024/10/1
- Upper-Limb Rehabilitation with a Dual-Mode Individualized Exoskeleton Robot: A Generative-Model-Based Solution2024/9/1
- When Vision Meets Touch: A Contemporary Review for Visuotactile Sensors from the Signal Processing Perspective2024/6/1
- From Perfect to Noisy World Simulation: Customizable Embodied Multi-modal Perturbations for SLAM Robustness Benchmarking2024/6/1
- LLaRA: Supercharging Robot Learning Data for Vision-Language Policy2024/6/1
- Visual Attention Based Cognitive Human-Robot Collaboration for Pedicle Screw Placement in Robot-Assisted Orthopedic Surgery2024/5/1
- What Foundation Models can Bring for Robot Learning in Manipulation : A Survey2024/4/1
- Efficient Model Learning and Adaptive Tracking Control of Magnetic Micro-Robots for Non-Contact Manipulation2024/3/1
- In-Hand Following of Deformable Linear Objects Using Dexterous Fingers with Tactile Sensing2024/3/1
- Contact-Implicit Model Predictive Control for Dexterous In-hand Manipulation: A Long-Horizon and Robust Approach2024/2/1
- Customizable Perturbation Synthesis for Robust SLAM Benchmarking2024/2/1
- Large Language Models for Robotics: Opportunities, Challenges, and Perspectives2024/1/1
- Generalizable whole-body global manipulation of deformable linear objects by dual-arm robot in 3-D constrained environments2023/10/1
- APP-RUSS: Automated Path Planning for Robotic Ultrasound System2023/10/1
- Learning to Assist Different Wearers in Multitasks: Efficient and Individualized Human-In-the-Loop Adaption Framework for Exoskeleton Robots2023/9/1
- Safe and Individualized Motion Planning for Upper-limb Exoskeleton Robots Using Human Demonstration and Interactive Learning2023/9/1
- In-Hand Re-grasp Manipulation with Passive Dynamic Actions via Imitation Learning2023/9/1
- Towards Safe Multi-Level Human-Robot Interaction in Industrial Tasks2023/8/1
- Crossway Diffusion: Improving Diffusion-based Visuomotor Policy via Self-supervised Learning2023/7/1
- StereoVAE: A lightweight stereo-matching system using embedded GPUs2023/5/1
- Contact-Aware Non-prehensile Robotic Manipulation for Object Retrieval in Cluttered Environments2023/3/1
- Discrete States-Based Trajectory Planning for Nonholonomic Robots2023/2/1
- Multi-Modal Interaction Control of Ultrasound Scanning Robots with Safe Human Guidance and Contact Recovery2023/2/1
- A Complementary Framework for Human-Robot Collaboration with a Mixed AR-Haptic Interface2022/10/1
- Contact2Grasp: 3D Grasp Synthesis via Hand-Object Contact Constraint2022/10/1
- Learning to Estimate 3-D States of Deformable Linear Objects from Single-Frame Occluded Point Clouds2022/10/1
- A Coarse-to-Fine Framework for Dual-Arm Manipulation of Deformable Linear Objects with Whole-Body Obstacle Avoidance2022/9/1
- Neural Neural Textures Make Sim2Real Consistent2022/6/1
- Seamless Interaction Design with Coexistence and Cooperation Modes for Robust Human-Robot Collaboration2022/6/1
- Does Self-supervised Learning Really Improve Reinforcement Learning from Pixels?2022/6/1
- Global Model Learning for Large Deformation Control of Elastic Deformable Linear Objects: An Efficient and Adaptive Approach2022/5/1
- Hierarchical Intention Tracking for Robust Human-Robot Collaboration in Industrial Assembly Tasks2022/3/1
- Hybrid Robotic Grasping with a Soft Multimodal Gripper and a Deep Multistage Learning Scheme2022/2/1
- ARROCH: Augmented Reality for Robots Collaborating with a Human2021/9/1
- Shape Control of Deformable Linear Objects with Offline and Online Learning of Local Linear Deformation Models2021/9/1
- Adaptive Control for Robotic Manipulation of Deformable Linear Objects with Offline and Online Learning of Unknown Models2021/7/1
- Challenges and Outlook in Robotic Manipulation of Deformable Objects2021/5/1
- Negotiation-based Human-Robot Collaboration via Augmented Reality2019/9/1
- On Model Adaptation for Sensorimotor Control of Robots2019/4/1
- Development of an Autonomous Sanding Robot with Structured-Light Technology2019/3/1