Yuezhe Zhang — accepted AI-conference papers

2026

Adaptive Diffusion Constrained Sampling for Bimanual Robot Manipulation

Haolei Tong, Yuezhe Zhang, Sophie C. Lueth, Georgia Chalvatzaki

ICRA 2026poster

Coordinated multi-arm manipulation requires satisfying multiple simultaneous geometric constraints across high-dimensional configuration spaces, which poses a significant challenge for traditional planning and control methods. In this work, we propose Adaptive Diffusion Constrained Sampling (ADCS), …

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2024

Multi-Modal MPPI and Active Inference for Reactive Task and Motion Planning

Yuezhe Zhang, Corrado Pezzato, Elia Trevisan, Chadi Salmi, Carlos Hernández Corbato, Javier Alonso-Mora

RA-L 2024

Task and Motion Planning (TAMP) has made strides in complex manipulation tasks, yet the execution robustness of the planned solutions remains overlooked. In this work, we propose a method for reactive TAMP to cope with runtime uncertainties and disturbances. We combine an Active Inference planner (A

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