Picture for Xianyi Cheng

Xianyi Cheng

Humanoid Locomotion and Manipulation: Current Progress and Challenges in Control, Planning, and Learning

Add code
Jan 03, 2025
Figure 1 for Humanoid Locomotion and Manipulation: Current Progress and Challenges in Control, Planning, and Learning
Figure 2 for Humanoid Locomotion and Manipulation: Current Progress and Challenges in Control, Planning, and Learning
Figure 3 for Humanoid Locomotion and Manipulation: Current Progress and Challenges in Control, Planning, and Learning
Figure 4 for Humanoid Locomotion and Manipulation: Current Progress and Challenges in Control, Planning, and Learning
Viaarxiv icon

Co-Designing Tools and Control Policies for Robust Manipulation

Add code
Sep 17, 2024
Viaarxiv icon

Caging in Motion: Characterizing Robustness in Manipulation through Energy Margin and Dynamic Caging Analysis

Add code
Apr 18, 2024
Viaarxiv icon

WebArena: A Realistic Web Environment for Building Autonomous Agents

Add code
Jul 25, 2023
Figure 1 for WebArena: A Realistic Web Environment for Building Autonomous Agents
Figure 2 for WebArena: A Realistic Web Environment for Building Autonomous Agents
Figure 3 for WebArena: A Realistic Web Environment for Building Autonomous Agents
Figure 4 for WebArena: A Realistic Web Environment for Building Autonomous Agents
Viaarxiv icon

Enhancing Dexterity in Robotic Manipulation via Hierarchical Contact Exploration

Add code
Jul 01, 2023
Viaarxiv icon

Learning Preconditions of Hybrid Force-Velocity Controllers for Contact-Rich Manipulation

Add code
Jun 25, 2022
Figure 1 for Learning Preconditions of Hybrid Force-Velocity Controllers for Contact-Rich Manipulation
Figure 2 for Learning Preconditions of Hybrid Force-Velocity Controllers for Contact-Rich Manipulation
Figure 3 for Learning Preconditions of Hybrid Force-Velocity Controllers for Contact-Rich Manipulation
Figure 4 for Learning Preconditions of Hybrid Force-Velocity Controllers for Contact-Rich Manipulation
Viaarxiv icon

Contact Mode Guided Motion Planning for Dexterous Manipulation

Add code
May 30, 2021
Figure 1 for Contact Mode Guided Motion Planning for Dexterous Manipulation
Figure 2 for Contact Mode Guided Motion Planning for Dexterous Manipulation
Figure 3 for Contact Mode Guided Motion Planning for Dexterous Manipulation
Figure 4 for Contact Mode Guided Motion Planning for Dexterous Manipulation
Viaarxiv icon

Contact Mode Guided Sampling-Based Planning for Quasistatic Dexterous Manipulation in 2D

Add code
Nov 03, 2020
Figure 1 for Contact Mode Guided Sampling-Based Planning for Quasistatic Dexterous Manipulation in 2D
Figure 2 for Contact Mode Guided Sampling-Based Planning for Quasistatic Dexterous Manipulation in 2D
Figure 3 for Contact Mode Guided Sampling-Based Planning for Quasistatic Dexterous Manipulation in 2D
Figure 4 for Contact Mode Guided Sampling-Based Planning for Quasistatic Dexterous Manipulation in 2D
Viaarxiv icon