Xinpei Ni — accepted AI-conference papers

2025

Is Linear Feedback on Smoothed Dynamics Sufficient for Stabilizing Contact-Rich Plans?

Yuki Shirai, Tong Zhao, H. J. Terry Suh, Huaijiang Zhu, Xinpei Ni, Jiuguang Wang +2

ICRA 2025

Designing planners and controllers for contact-rich manipulation is extremely challenging as contact violates the smoothness conditions that many gradient-based controller synthesis tools assume. Contact smoothing approximates a non-smooth system with a smooth one, allowing one to use these synthesi

Cited by 10 Source ↗Scholar ↗

2025

Should We Learn Contact-Rich Manipulation Policies From Sampling-Based Planners?

Huaijiang Zhu, Tong Zhao, Xinpei Ni, Jiuguang Wang, Kuan Fang, Ludovic Righetti +1

RA-L 2025

The tremendous success of behavior cloning (BC) in robotic manipulation has been largely confined to tasks where demonstrations can be effectively collected through human teleoperation. However, demonstrations for contact-rich manipulation tasks that require complex coordination of multiple contacts

Cited by 13 Source ↗Scholar ↗