Xupeng Zhu

41 papers A* 7C 1Misc 4Journal 28Unranked 1
YearRankTypeTitle / Venue / Authors
2025 J jnl
3D Equivariant Visuomotor Policy Learning via Spherical Projection.
CoRR
Boce Hu, Dian Wang, David Klee, Heng Tian, Xupeng Zhu, Haojie Huang, Robert Platt, Robin Walters
2025 J jnl
BEAR: Benchmarking and Enhancing Multimodal Language Models for Atomic Embodied Capabilities.
CoRR
Yu Qi, Haibo Zhao, Ziyu Guo, Siyuan Ma, Ziyan Chen, Yaokun Han, Renrui Zhang, Zitiantao Lin, Shiji Xin, Yijian Huang, Kai Cheng, Peiheng Wang, Jiazheng Liu, Jiayi Zhang, Yizhe Zhu, Wenqing Wang, Yiran Qin, Xupeng Zhu, Haojie Huang, Lawson L. S. Wong
2025 J jnl
Clebsch-Gordan Transformer: Fast and Global Equivariant Attention.
CoRR
Owen Howell, Linfeng Zhao, Xupeng Zhu, Yaoyao Qian, Haojie Huang, Lingfeng Sun, Wil Thomason, Robert Platt, Robin Walters
2025 J jnl
Coarse-to-Fine 3D Keyframe Transporter.
CoRR
Xupeng Zhu, David Klee, Dian Wang, Boce Hu, Haojie Huang, Arsh Tangri, Robin Walters, Robert Platt
2025 J jnl
EquAct: An SE(3)-Equivariant Multi-Task Transformer for Open-Loop Robotic Manipulation.
CoRR
Xupeng Zhu, Yu Qi, Yizhe Zhu, Robin Walters, Robert Platt
2025 J jnl
Forces for free: Vision-based contact force estimation with a compliant hand.
Sci. Robotics
Yifan Zhu, Mei Hao, Xupeng Zhu, Quentin Bateux, Alex Wong, Aaron M. Dollar
2025 J jnl
Generalizable Hierarchical Skill Learning via Object-Centric Representation.
CoRR
Haibo Zhao, Yu Qi, Boce Hu, Yizhe Zhu, Ziyan Chen, Heng Tian, Xupeng Zhu, Owen Howell, Haojie Huang, Robin Walters, Dian Wang, Robert Platt
2025 A* conf
Hierarchical Equivariant Policy via Frame Transfer.
ICML
Haibo Zhao, Dian Wang, Yizhe Zhu, Xupeng Zhu, Owen Lewis Howell, Linfeng Zhao, Yaoyao Qian, Robin Walters, Robert Platt
2025 J jnl
Hierarchical Equivariant Policy via Frame Transfer.
CoRR
Haibo Zhao, Dian Wang, Yizhe Zhu, Xupeng Zhu, Owen Howell, Linfeng Zhao, Yaoyao Qian, Robin Walters, Robert Platt
2025 J jnl
Push-Grasp Policy Learning Using Equivariant Models and Grasp Score Optimization.
CoRR
Boce Hu, Heng Tian, Dian Wang, Haojie Huang, Xupeng Zhu, Robin Walters, Robert Platt
2025 J jnl
Push-Grasp Policy Learning Using Equivariant Models and Grasp Score Optimization.
IEEE Robotics Autom. Lett.
Boce Hu, Heng Tian, Dian Wang, Haojie Huang, Xupeng Zhu, Robin Walters, Robert Platt
2025 J jnl
RLA: A Low-Latency and High-Smoothness Path Planning System Based on Interpolation and Velocity Control.
IEEE Trans. Sustain. Comput.
Xupeng Zhu, Xin Niu, Wang Chen, Chen Yu
2025 A* conf
SE(3)-Equivariant Diffusion Policy in Spherical Fourier Space.
ICML
Xupeng Zhu, Fan Wang, Robin Walters, Jane Shi
2025 J jnl
SE(3)-Equivariant Diffusion Policy in Spherical Fourier Space.
CoRR
Xupeng Zhu, Fan Wang, Robin Walters, Jane Shi
2024 J jnl
Equivariant Action Sampling for Reinforcement Learning and Planning.
CoRR
Linfeng Zhao, Owen Howell, Xupeng Zhu, Jung Yeon Park, Zhewen Zhang, Robin Walters, Lawson L. S. Wong
2024 A* conf
Fourier Transporter: Bi-Equivariant Robotic Manipulation in 3D.
ICLR
Haojie Huang, Owen Howell, Dian Wang, Xupeng Zhu, Robert Platt, Robin Walters
2024 J jnl
Fourier Transporter: Bi-Equivariant Robotic Manipulation in 3D.
CoRR
Haojie Huang, Owen Howell, Xupeng Zhu, Dian Wang, Robin Walters, Robert Platt
2024 Misc conf
OrbitGrasp: SE(3)-Equivariant Grasp Learning.
CoRL
Boce Hu, Xupeng Zhu, Dian Wang, Zihao Dong, Haojie Huang, Chenghao Wang, Robin Walters, Robert Platt
2024 J jnl
OrbitGrasp: SE(3)-Equivariant Grasp Learning.
CoRR
Boce Hu, Xupeng Zhu, Dian Wang, Zihao Dong, Haojie Huang, Chenghao Wang, Robin Walters, Robert Platt
2024 Misc conf
ThinkGrasp: A Vision-Language System for Strategic Part Grasping in Clutter.
CoRL
Yaoyao Qian, Xupeng Zhu, Ondrej Biza, Shuo Jiang, Linfeng Zhao, Haojie Huang, Yu Qi, Robert Platt
2024 J jnl
ThinkGrasp: A Vision-Language System for Strategic Part Grasping in Clutter.
CoRR
Yaoyao Qian, Xupeng Zhu, Ondrej Biza, Shuo Jiang, Linfeng Zhao, Haojie Huang, Yu Qi, Robert Platt
2023 A* conf
A General Theory of Correct, Incorrect, and Extrinsic Equivariance.
NeurIPS
Dian Wang, Xupeng Zhu, Jung Yeon Park, Mingxi Jia, Guanang Su, Robert Platt, Robin Walters
2023 J jnl
A General Theory of Correct, Incorrect, and Extrinsic Equivariance.
CoRR
Dian Wang, Xupeng Zhu, Jung Yeon Park, Robert Platt, Robin Walters
2023 J jnl
Can Euclidean Symmetry be Leveraged in Reinforcement Learning and Planning?
CoRR
Linfeng Zhao, Owen Howell, Jung Yeon Park, Xupeng Zhu, Robin Walters, Lawson L. S. Wong
2023 A* conf
Edge Grasp Network: A Graph-Based SE(3)-invariant Approach to Grasp Detection.
ICRA
Haojie Huang, Dian Wang, Xupeng Zhu, Robin Walters, Robert Platt
2023 A* conf
Integrating Symmetry into Differentiable Planning with Steerable Convolutions.
ICLR
Linfeng Zhao, Xupeng Zhu, Lingzhi Kong, Robin Walters, Lawson L. S. Wong
2023 J jnl
On Robot Grasp Learning Using Equivariant Models.
CoRR
Xupeng Zhu, Dian Wang, Guanang Su, Ondrej Biza, Robin Walters, Robert Platt
2023 J jnl
On robot grasp learning using equivariant models.
Auton. Robots
Xupeng Zhu, Dian Wang, Guanang Su, Ondrej Biza, Robin Walters, Robert Platt
2023 A* conf
SEIL: Simulation-augmented Equivariant Imitation Learning.
ICRA
Mingxi Jia, Dian Wang, Guanang Su, David Klee, Xupeng Zhu, Robin Walters, Robert Platt
2022 C conf
BulletArm: An Open-Source Robotic Manipulation Benchmark and Learning Framework.
ISRR
Dian Wang, Colin Kohler, Xupeng Zhu, Mingxi Jia, Robert Platt
2022 J jnl
BulletArm: An Open-Source Robotic Manipulation Benchmark and Learning Framework.
CoRR
Dian Wang, Colin Kohler, Xupeng Zhu, Mingxi Jia, Robert Platt
2022 J jnl
Edge Grasp Network: A Graph-Based SE(3)-invariant Approach to Grasp Detection.
CoRR
Haojie Huang, Dian Wang, Xupeng Zhu, Robin Walters, Robert Platt
2022 J jnl
Integrating Symmetry into Differentiable Planning.
CoRR
Linfeng Zhao, Xupeng Zhu, Lingzhi Kong, Robin Walters, Lawson L. S. Wong
2022 Misc conf
On-Robot Learning With Equivariant Models.
CoRL
Dian Wang, Mingxi Jia, Xupeng Zhu, Robin Walters, Robert Platt
2022 J jnl
On-Robot Policy Learning with O(2)-Equivariant SAC.
CoRR
Dian Wang, Mingxi Jia, Xupeng Zhu, Robin Walters, Robert Platt
2022 J jnl
SEIL: Simulation-augmented Equivariant Imitation Learning.
CoRR
Mingxi Jia, Dian Wang, Guanang Su, David Klee, Xupeng Zhu, Robin Walters, Robert Platt
2022 — conf
Sample Efficient Grasp Learning Using Equivariant Models.
Robotics: Science and Systems
Xupeng Zhu, Dian Wang, Ondrej Biza, Guanang Su, Robin Walters, Robert Platt
2022 J jnl
Sample Efficient Grasp Learning Using Equivariant Models.
CoRR
Xupeng Zhu, Dian Wang, Ondrej Biza, Guanang Su, Robin Walters, Robert Platt
2021 Misc conf
Equivariant Q Learning in Spatial Action Spaces.
CoRL
Dian Wang, Robin Walters, Xupeng Zhu, Robert Platt Jr.
2021 J jnl
Equivariant Q Learning in Spatial Action Spaces.
CoRR
Dian Wang, Robin Walters, Xupeng Zhu, Robert Platt Jr.
2020 J jnl
Two Hybrid End-Effector Posture-Maintaining and Obstacle-Limits Avoidance Schemes for Redundant Robot Manipulators.
IEEE Trans. Ind. Informatics
Zhijun Zhang, Siyuan Chen, Xupeng Zhu, Ziyi Yan