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Xianyi Cheng — most-cited papers & profile · Large Language Models
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overview
Xianyi Cheng
8
papers ·
29
citations ·
0
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Most-cited papers
Enhancing Dexterity in Robotic Manipulation via Hierarchical Contact Exploration
2023 · 26 citations
Contact Mode Guided Sampling-Based Planning for Quasistatic Dexterous Manipulation in 2D
2020 · 1 citations
Contact Mode Guided Motion Planning for Quasidynamic Dexterous Manipulation in 3D
2021 · 1 citations
Learning Preconditions of Hybrid Force-Velocity Controllers for Contact-Rich Manipulation
2022 · 1 citations
CEER: Compliant End-Effector and Root Control as a Unified Interface for Hierarchical Humanoid Loco-Manipulation
2026
OPENTOUCH: Bringing Full-Hand Touch to Real-World Interaction
2025
Characterizing Manipulation Robustness through Energy Margin and Caging Analysis
2024
CageCoOpt: Enhancing Manipulation Robustness through Caging-Guided Morphology and Policy Co-Optimization
2024
Topics
Manipulation
Control
Human-Robot Interaction
Humanoid
Locomotion
Perception
Sim-to-Real