KI.Fabrik

Apr 27, 2016
project site
KI Fabrik infrastructure concept.

KI.Fabrik (the German word of AI Factory) is a project funded by Bavaria state.

Manufacturing
吳璠
吳璠
Postdoc at TUM - Munich Institute of Robotics and Machine Intelligence

My research interests include robot skill learning, energy efficient robotic system, behaviour-based robot systems.

Publications

LEMMo-Plan: LLM-Enhanced Learning from Multi-Modal Demonstration for Planning Sequential Contact-Rich Manipulation Tasks
2025 IEEE International Conference on Robotics and Automation (ICRA)
Kejia Chen, Zheng Shen, Yue Zhang, Lingyun Chen, Fan Wu, Zhenshan Bing, Sami Haddadin, Alois Knoll
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LLM-as-BT-Planner: Leveraging LLMs for Behavior Tree Generation in Robot Task Planning
2025 IEEE International Conference on Robotics and Automation (ICRA)
Jicong Ao, Fan Wu, Yansong Wu, Abdalla Swikir, Sami Haddadin
Cite Code Project arXiv
TacDiffusion: Force-domain Diffusion Policy for Precise Tactile Manipulation
2025 IEEE International Conference on Robotics and Automation (ICRA)
Yansong Wu, Zongxie Chen, Fan Wu, Lingyun Chen, Liding Zhang, Zhenshan Bing, Abdalla Swikir, Alois Knoll, Sami Haddadin
Cite Code Project arXiv
Tree-Based Grafting Approach for Bidirectional Motion Planning with Local Subsets Optimization
IEEE Robotics and Automation Letters (RA-L)
Liding Zhang, Yao Ling, Zhenshan Bing, Fan Wu, Sami Haddadin, Alois Knoll
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A Scalable Platform for Robot Learning and Physical Skill Data Collection
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2024
Samuel Schneider, Yansong Wu, Lars Johannsmeier, Fan Wu, Sami Haddadin
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Elliptical K-Nearest Neighbors - Path Optimization via Coulomb's Law and Invalid Vertices in C-Space Obstacles
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2024
Liding Zhang, Zhenshan Bing, Yu Zhang, Kuanqi Cai, Lingyun Chen, Fan Wu, Sami Haddadin, Alois Knoll
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Flexible Informed Trees (FIT*): Adaptive Batch-Size Approach in Informed Sampling-Based Path Planning
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2024
Liding Zhang, Zhenshan Bing, Kejia Chen, Lingyun Chen, Kuanqi Cai, Yu Zhang, Fan Wu, Peter Krumbholz, Zhilin Yuan, Sami Haddadin, Alois Knoll
Cite Project arXiv
Ontology Based AI Planning and Scheduling for Robotic Assembly
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2024
Jingyun Zhao, Birgit Vogel-Heuser, Jicong Ao, Yansong Wu, Liding Zhang, Fandi Bi, Dominik Hujo, Zhenshan Bing, Fan Wu, Alois Knoll, Sami Haddadin, Bernd Vojanec, Timo Markert, André Kraft
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Visuo-Tactile Exploration of Unknown Rigid 3D Curvatures by Vision-Augmented Unified Force-Impedance Control
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2024
Kübra Karacan, Anran Zhang, Hamid Sadeghian, Fan Wu, Sami Haddadin
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Tactile-Morph Skills: Energy-Based Control Meets Data-Driven Learning
Anran Zhang, Kübra Karacan, Hamid Sadeghian, Yansong Wu, Fan Wu, Sami Haddadin
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1 kHz Behavior Tree for Self-adaptable Tactile Insertion
2024 IEEE International Conference on Robotics and Automation (ICRA).
Yansong Wu, Fan Wu, Lingyun Chen, Kejia Chen, Samuel Schneider, Lars Johannsmeier, Zhenshan Bing, Fares Abu-Dakka, Alois Knoll, Sami Haddadin
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1 kHz Behavior Tree for Self-adaptable Tactile Insertion
Behavior Tree Generation using Large Language Models for Sequential Manipulation Planning with Human Instructions and Feedback
ICRA 2024 Workshop Exploring Role Allocation in Human-Robot Co-Manipulation
Jicong Ao, Yansong Wu, Fan Wu, Sami Haddadin
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Real-time Contact State Estimation in Shape Control of Deformable Linear Objects under Small Environmental Constraints
2024 IEEE International Conference on Robotics and Automation (ICRA).
Kejia Chen, Zhenshan Bing, Yansong Wu, Fan Wu, Liding Zhang, Sami Haddadin, Alois Knoll
PDF Cite Project Video arXiv
Real-time Contact State Estimation in Shape Control of Deformable Linear Objects under Small Environmental Constraints
Tactile Robot Programming: Transferring Task Constraints into Constraint-Based Unified Force-Impedance Control
2024 IEEE International Conference on Robotics and Automation (ICRA)
Kübra Karacan, Robin Kirschner, Hamid Sadeghian, Fan Wu, Sami Haddadin
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Tactile Robot Programming: Transferring Task Constraints into Constraint-Based Unified Force-Impedance Control
The Inherent Representation of Tactile Manipulation Using Unified Force-Impedance Control
2023 IEEE International Conference on Decision and Control (CDC).
Kübra Karacan, Robin Kirschner, Fan Wu, Hamid Sadeghian, Sami Haddadin
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The Inherent Representation of Tactile Manipulation Using Unified Force-Impedance Control
Contact-aware Shaping and Maintenance of Deformable Linear Objects With Fixtures
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Kejia Chen, Zhenshan Bing, Fan Wu, Yuan Meng, André Kraft, Sami Haddadin, Alois Knoll
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Contact-aware Shaping and Maintenance of Deformable Linear Objects With Fixtures
Tactile Exploration Using Unified Force-Impedance Control
2023 IFAC Word Congress on Automatic Control
Kübra Karacan, Divij Grover, Hamid Sadeghian, Fan Wu, Sami Haddadin
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Tactile Exploration Using Unified Force-Impedance Control
Learning dynamic robot-to-robot object handover
22nd IFAC World Congress, 2023
Yansong Wu, Lingyun Chen, Ignacio Perez Mahiques, Zhenshan Bing, Fan Wu, Alois Knoll, Sami Haddadin
PDF Cite Project Video DOI
Learning dynamic robot-to-robot object handover