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, Farshad Khadivar, Xiao Gao

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, Miao Li, Kunpeng Yao

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

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, Farshad Khadivar, Xiao Gao

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

Effects of Task Conditions on Human Hand Pose Selection Strategies in a Bimanual Fine Manipulation Task

Aude Billard, Kunpeng Yao

Many manipulations in human everyday activities rely on the collaboration of our two hands. Bimanual fine manipulation tasks are particularly demanding when precise coordination among fingers of both hands are required. Yet, despite the abundant degrees of ...

Society for Neural Control of Movement2022

Hand pose selection in a bimanual fine-manipulation task

Aude Billard, Kunpeng Yao

Many daily tasks involve the collaboration of both hands. Humans dexterously adjust hand poses and modulate the forces exerted by fingers in response to task demands. Hand pose selection has been intensively studied in unimanual tasks, but little work has ...

2021

Unscrewing Experiment Dataset

Kunpeng Yao

Summary of experimental data of the unscrewing experiment, for the purpose of studying the effects of task condition on the human hand pose selection strategy in bimanaul fine manipulation tasks. ...

2020

Benchmark for Bimanual Robotic Manipulation of Semi-deformable Objects

Aude Billard, Konstantinos Chatzilygeroudis, Ilaria Lauzana, Kunpeng Yao, Bernardo Fichera, Farshad Khadivar, Fanjun Bu

We propose a new benchmarking protocol to evaluate algorithms for bimanual robotic manipulation semi-deformable objects. The benchmark is inspired from two real-world applications: (a) watchmaking craftsmanship, and (b) belt assembly in automobile engines. ...

2020

An inverse optimization approach to understand human acquisition of kinematic coordination in bimanual fine manipulation tasks

Aude Billard, Kunpeng Yao

Tasks that require the cooperation of both hands and arms are common in human everyday life. Coordination helps to synchronize in space and temporally motion of the upper limbs. In fine bimanual tasks, coordination enables also to achieve higher degrees of ...

2020

Spring Assembly Experiment Dataset

Kunpeng Yao

Dataset generated during and/or analyzed during for the spring assembly bimanual manipulation task in the SAHR project. ...

2019

Integrating Multisensory Information for Modeling Human Dexterous Bimanual Manipulation Skills

Aude Billard, Anaïs Betsabeh Haget, Ilaria Lauzana, Kunpeng Yao, Bernardo Fichera

We propose to make a demonstration of the experimental setup that we have developed to measure human bimanual dexterity in watchmaking. These measurements and their analysis are used to develop robot controllers with similar dexterity. Next we explain the ...

2018