Picture for Xianyi Cheng

Xianyi Cheng

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
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