Publications de Kunpeng Yao | EPFL Graph Search

Action Contextualization: Adaptive Task Planning and Action Tuning Using Large Language Models

Aude Billard, Kunpeng Yao, Sthithpragya Gupta

Large Language Models (LLMs) present a promising frontier in robotic task planning by leveraging extensive human knowledge. Nevertheless, the current literature often overlooks the critical aspects of robots' adaptability and error correction. This work ai ...

2024

Enhancing Dexterity in Confined Spaces: Real-Time Motion Planning for Multifingered In-Hand Manipulation

Aude Billard, Kunpeng Yao, Xiao Gao, Farshad Khadivar

Dexterous in-hand manipulation in robotics, particularly with multi-fingered robotic hands, poses significant challenges due to the intricate avoidance of collisions among fingers and the object being manipulated. Collision-free paths for all fingers must ...

2024

Device for exercising cervical spine

Aude Billard, Kunpeng Yao, Miao Li

It is disclosed a wearable device (1) for exercising cervical spine, in particular for rehabilitation exercises for cervical spine disorders. The wearable device (1) includes -a structure (2) comprising a support (3) suitable to be worn on shoulders of a u ...

2024

An objective skill assessment framework for microsurgical anastomosis based on ALI scores

Aude Billard, Kunpeng Yao, Soheil Gholami, Torstein Ragnar Meling, Anaëlle Olivia Marie Manon

IntroductionThe current assessment and standardization of microsurgical skills are subjective, posing challenges in reliable skill evaluation. We aim to address these limitations by developing a quantitative and objective framework for accurately assessing ...

Springer Wien2024

ISR-LLM: Iterative Self-Refined Large Language Model for Long-Horizon Sequential Task Planning

Kunpeng Yao

Motivated by the substantial achievements of Large Language Models (LLMs) in the field of natural language processing, recent research has commenced investigations into the application of LLMs for complex, long-horizon sequential task planning challenges i ...

Institute of Electrical and Electronics Engineers Inc.2024

Transfer learning in robotics: An upcoming breakthrough? A review of promises and challenges

Aude Billard, Kunpeng Yao, Bernardo Fichera

Transfer learning is a conceptually-enticing paradigm in pursuit of truly intelligent embodied agents. The core concept—reusing prior knowledge to learn in and from novel situations—is successfully leveraged by humans to handle novel situations. In recent ...

2024

Online active and dynamic object shape exploration with a multi-fingered robotic hand

Aude Billard, Kunpeng Yao, Xiao Gao, Farshad Khadivar

The sense of touch can provide a robot with a wealth of information about the contact region when interacting with an unknown environment. Nevertheless, utilizing touch information to plan exploration paths and adjust robot posture to improve task efficien ...

Elsevier2023

Exploiting Kinematic Redundancy for Robotic Grasping of Multiple Objects

Aude Billard, Kunpeng Yao

Humans coordinate the abundant degrees of freedom (DoFs) of hands to dexterously perform tasks in everyday life. We imitate human strategies to advance the dexterity of multi-DoF robotic hands. Specifically, we enable a robot hand to grasp multiple objects ...

2023

Enhancing our understanding of human fine manipulation skills and advancing robot dexterity in grasping

Kunpeng Yao

From surgery to watchmaking, fine-manipulation skills highly rely on the dexterity afforded by both hands. Coordination is key to human dexterity. Specifically, humans need not only to govern the abundant intrinsic degrees of freedom (DOFs) to allocate con ...

EPFL2022

Force Synergies Within and Across the Two Hands in Bimanual Skill Acquisition

Aude Billard, Kunpeng Yao

Bimanual fine-manipulation tasks demand the collaboration of both hands and rely on the coordinated forces applied by fingers from both hands. Despite the abundant degrees of freedom (DoFs) of our hands, humans distribute the roles across hands and apply b ...

Society for Neural Control of Movement2022