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Teng Xue

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Related publications (5)

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Demonstration-guided Optimal Control for Long-term Non-prehensile Planar Manipulation

Sylvain Calinon, Teng Xue

Long-term non-prehensile planar manipulation is a challenging task for robot planning and feedback control. It is characterized by underactuation, hybrid control, and contact uncertainty. One main difficulty is to determine both the continuous and discrete ...

IEEE2023

Robust contact-rich manipulation through implicit motor adaptation

Sylvain Calinon, Teng Xue, Suhan Narayana Shetty

Contact-rich manipulation plays an important role in daily human activities. However, uncertain physical parameters often pose significant challenges for both planning and control. A promising strategy is to develop policies that are robust across a wide r ...

SAGE Publications2025

Design and Control of Roller Grasper V3 for In-Hand Manipulation

Teng Xue

Robot in-hand manipulation is an important skill for robots to carry out sophisticated tasks that require moving the grasped object within hand. In this work, we present the Roller Grasper V3, a nonanthropomorphic robot grasper with a steerable roller on e ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2024

Logic Learning From Demonstrations for Multi-Step Manipulation Tasks in Dynamic Environments

Sylvain Calinon, Teng Xue, Amirreza Razmjoo Fard

Learning from Demonstration (LfD) stands as an efficient framework for imparting human-like skills to robots. Nevertheless, designing an LfD framework capable of seamlessly imitating, generalizing, and reacting to disturbances for long-horizon manipulation ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2024

D-LGP: Dynamic Logic-Geometric Program for Reactive Task and Motion Planning

Sylvain Calinon, Teng Xue, Amirreza Razmjoo Fard

Many real-world sequential manipulation tasks involve a combination of discrete symbolic search and continuous motion planning, collectively known as combined task and motion planning (TAMP). However, prevailing methods often struggle with the computationa ...

IEEE2024