William Xie — accepted AI-conference papers

2024

DeliGrasp: Inferring Object Properties with LLMs for Adaptive Grasp Policies

William Xie, Maria Valentini, Jensen Lavering, Nikolaus Correll

CoRL 2024poster

Large language models (LLMs) can provide rich physical descriptions of most worldly objects, allowing robots to achieve more informed and capable grasping. We leverage LLMs' common sense physical reasoning and code-writing abilities to infer an object's physical characteristics-mass $m$, friction co…

Cited by 4 Source ↗code ↗Scholar ↗

2015

Distributed centroid estimation and motion controllers for collective transport by multi-robot systems

Golnaz Habibi, Zachary Kingston, William Xie, Mathew Jellins, James McLurkin

ICRA 2015poster

This paper presents four distributed motion controllers to enable a group of robots to collectively transport an object towards a guide robot. These controllers include: rotation around a pivot robot, rotation in-place around an estimated centroid of the object, translation, and a combined motion of…

Cited by 79 Source ↗Scholar ↗