Author

Keqi Zhu

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Open access Jul 2026

Active Surface-Driven Reconfigurable Gripper: Robust Grasping and Sequential Manipulation of Thin Objects

Robotic grippers face substantial challenges in grasping and manipulating thin objects. Most existing grippers rely on highly precise approach and grasp motions, which limits robustness and reduces applicability. This paper explores thin-object grasping using books as a representative example. Here, we propose a novel...

Zi-Yi Zheng, Keqi Zhu, Hao Wu et al. · Robotics · 0 citations

Jul 2026

P3: Probabilistic Policy Propagation for Stable VAE-Based Robot Learning

Variational Autoencoders are widely used to encode high-dimensional and noisy observations in robotics. However, their stochastic latent creates a mismatch with Proximal Policy Optimization (PPO): an effective policy marginalizes over the latent distribution, whereas former implementations estimate its probability rati...

Li-Yun Yan, Jian-Ming Ma, Yang Zhang et al. · arXiv.org · 0 citations