Xinyi Cao

Zeyu Huang, Xinyi Cao, Yue Deng et al.

Collective memory -- community members' interconnected memories and impressions of the group -- is essential to the community's culture and identity. Its development requires members' continuous participatory contribution and sensemaking. However, existing works mainly adopt a holistic sociological perspective to analyze well-developed collective memory, less focusing on member-level conceptualization of this possession or what the co-contribution practices can be. Therefore, this work alternatively adopts the latter perspective and probes such interpretative and interactional patterns with two mobile systems. With one being a locative narrative and exploration system condensed from existing literature's design frameworks, and the other being a conventional online forum representing current practices, they served as the anchors of observation for our two-week, mixed-methods field study (n=38) on a university campus. A core debate we have identified was to retrospectively contemplate or document the presence as a history for the future. This also subsequently impacted the narrative focuses, expectations of collective memory constituents, and the ways participants seek inspiration from the group. We further extracted design considerations that could better embrace the diverse conceptualizations of collective memory and bond different community members together. Lastly, revisiting and reflecting on our design, we provided extra insights on designing devoted locative narrative experiences for community-driven UGC platforms.

Jinxuan Zhu, Chenrui Tie, Xinyi Cao et al.

Non-prehensile (NP) manipulation, in which robots alter object states without forming stable grasps (for example, pushing, poking, or sliding), significantly broadens robotic manipulation capabilities when grasping is infeasible or insufficient. However, enabling a unified framework that generalizes across different tasks, objects, and environments while seamlessly integrating non-prehensile and prehensile (P) actions remains challenging: robots must determine when to invoke NP skills, select the appropriate primitive for each context, and compose P and NP strategies into robust, multi-step plans. We introduce ApaptPNP, a vision-language model (VLM)-empowered task and motion planning framework that systematically selects and combines P and NP skills to accomplish diverse manipulation objectives. Our approach leverages a VLM to interpret visual scene observations and textual task descriptions, generating a high-level plan skeleton that prescribes the sequence and coordination of P and NP actions. A digital-twin based object-centric intermediate layer predicts desired object poses, enabling proactive mental rehearsal of manipulation sequences. Finally, a control module synthesizes low-level robot commands, with continuous execution feedback enabling online task plan refinement and adaptive replanning through the VLM. We evaluate ApaptPNP across representative P&NP hybrid manipulation tasks in both simulation and real-world environments. These results underscore the potential of hybrid P&NP manipulation as a crucial step toward general-purpose, human-level robotic manipulation capabilities. Project Website: https://adaptpnp.github.io/