Taozheng Yang — accepted AI-conference papers

2023

Exploring Visual Pre-training for Robot Manipulation: Datasets, Models and Methods

Ya Jing, Xuelin Zhu, Xingbin Liu, Qie Sima, Taozheng Yang, Yunhai Feng +1

IROS 2023poster

Visual pre-training with large-scale real-world data has made great progress in recent years, showing great potential in robot learning with pixel observations. However, the recipes of visual pre-training for robot manipulation tasks are yet to be built. In this paper, we thoroughly investigate the…

Cited by 16 Source ↗code ↗Scholar ↗

2023

MOMA-Force: Visual-Force Imitation for Real-World Mobile Manipulation

Taozheng Yang, Ya Jing, Hongtao Wu, Jiafeng Xu, Kuankuan Sima, Guangzeng Chen +2

IROS 2023poster

In this paper, we present a novel method for mobile manipulators to perform multiple contact-rich manipulation tasks. While learning-based methods have the potential to generate actions in an end-to-end manner, they often suffer from insufficient action accuracy and robustness against noise. On the…

Cited by 12 Source ↗code ↗Scholar ↗