Author

An-Xing Xiao

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Preprint Sep 2026

Receding-Horizon Pushing with Composable Object-Centric Policies

Non-prehensile manipulation is practical for relocating large, heavy, or geometrically ungraspable objects. Yet, long-horizon pushing of arbitrarily-shaped 3D objects couples three problems: 1) where to push the object so as to approach the target pose, 2) whether each push is stable and reachable, 3) whether subsequen...

Zhi-Yi Yuan, Tian-Run Hu, An-Xing Xiao et al. · 0 citations

Preprint Sep 2026

MIGU: Multimodal Instruction Grounding under Uncertainty for Manipulation Planning

Understanding natural human instructions is crucial for deploying robots in human-centric environments. We study multimodal instruction grounding, where language and gesture provide complementary but uncertain cues. We present MIGU, a modular framework that combines semantic and geometric evidence into a unified ground...

Ming-Ke Lu, An-Xing Xiao, David Hsu · 0 citations