Author

Feng-Yi Dai

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Nov 2026

Distributed Safety-Aware Motion Planning for Dual-Arm Systems via Gaussian Belief Propagation With Application to Catenary Dropper Assembly

With the increasing deployment of dual-arm robots in compact and shared workspaces, generating safety-aware and efficient motion plans for such high-degree-of-freedom (DoF) collaborative systems remains a challenge. Centralized planners suffer from severe computational bottlenecks, while existing distributed optimizati...

Zhao Jin, Feng-Yi Dai, Yi-Xuan Liang et al. · IEEE Robotics and Automation... · 0 citations

Preprint Aug 2026

Gripper-aware Vision Language Action Models

This work introduces MiGA, a multi-gripper-aware dataset spanning five distinct gripper types across multiple robots with 103,000 demonstrations, and proposes GVLA, which combines a new multi-gripper tokenizer with adapter-based policy routing that improves zero-shot generalization or few-shot adaptation to new objects...

Hanyi Zhang, Zihong Luo, Tianyu Li et al. · 1 citation