Xiao Gao — accepted AI-conference papers

2025

Implicit Articulated Robot Morphology Modeling with Configuration Space Neural Signed Distance Functions

Yiting Chen, Xiao Gao, Kunpeng Yao, Loïc Niederhauser, Yasemin Bekiroglu, Aude Billard

ICRA 2025

In this paper, we introduce a novel approach to implicitly encode precise robot morphology using forward kinematics based on a configuration space signed distance function. Our proposed Robot Neural Distance Function (RNDF) optimizes the balance between computational efficiency and accuracy for sign

Cited by 4 Source ↗code ↗Scholar ↗

2021

Motion Mappings for Continuous Bilateral Teleoperation

Xiao Gao, João Silvério, Emmanuel Pignat, Sylvain Calinon, Miao Li, Xiaohui Xiao

RA-L 2021

Mapping operator motions to a robot is a key problem in teleoperation. Due to differences between local and remote workspaces, such as object locations, it is particularly challenging to derive smooth motion mappings that fulfill different goals (e.g., picking objects with different poses on the two

Cited by 28 Source ↗Scholar ↗