Mingxin Yu

Mingxin Yu, Chenning Yu, M-Mahdi Naddaf-Sh et al.

Sampling-based motion planning methods for manipulators in crowded environments often suffer from expensive collision checking and high sampling complexity, which make them difficult to use in real time. To address this issue, we propose a new generalizable control barrier function (CBF)-based steering controller to reduce the number of samples needed in a sampling-based motion planner RRT. Our method combines the strength of CBF for real-time collision-avoidance control and RRT for long-horizon motion planning, by using CBF-induced neural controller (CBF-INC) to generate control signals that steer the system towards sampled configurations by RRT. CBF-INC is learned as Neural Networks and has two variants handling different inputs, respectively: state (signed distance) input and point-cloud input from LiDAR. In the latter case, we also study two different settings: fully and partially observed environmental information. Compared to manually crafted CBF which suffers from over-approximating robot geometry, CBF-INC can balance safety and goal-reaching better without being over-conservative. Given state-based input, our neural CBF-induced neural controller-enhanced RRT (CBF-INC-RRT) can increase the success rate by 14% while reducing the number of nodes explored by 30%, compared with vanilla RRT on hard test cases. Given LiDAR input where vanilla RRT is not directly applicable, we demonstrate that our CBF-INC-RRT can improve the success rate by 10%, compared with planning with other steering controllers. Our project page with supplementary material is at https://mit-realm.github.io/CBF-INC-RRT-website/.

Mingxin Yu, Ruixiao Yang, Chuchu Fan

Large Language Models (LLMs) have advanced Automated Heuristic Design (AHD) in combinatorial optimization (CO) in the past few years. However, existing discovery pipelines often require extensive manual trial-and-error or reliance on domain expertise to adapt to new or complex problems. This stems from tightly coupled internal mechanisms that limit systematic improvement of the LLM-driven design process. To address this challenge, we propose a structured framework for LLM-driven AHD that explicitly decomposes the heuristic discovery process into modular stages: a forward pass for evaluation, a backward pass for analytical feedback, and an update step for program refinement. This separation provides a clear abstraction for iterative refinement and enables principled improvements of individual components. We validate our framework across four diverse real-world CO domains, where it consistently outperforms baselines, achieving up to $0.17$ improvement in QYI on unseen test sets. Finally, we show that several popular AHD methods are restricted instantiations of our framework. By integrating them in our structured pipeline, we can upgrade the components modularly and significantly improve their performance.

Mingxin Yu, Lin Shao, Zhehuan Chen et al.

Part assembly is a typical but challenging task in robotics, where robots assemble a set of individual parts into a complete shape. In this paper, we develop a robotic assembly simulation environment for furniture assembly. We formulate the part assembly task as a concrete reinforcement learning problem and propose a pipeline for robots to learn to assemble a diverse set of chairs. Experiments show that when testing with unseen chairs, our approach achieves a success rate of 74.5% under the object-centric setting and 50.0% under the full setting. We adopt an RRT-Connect algorithm as the baseline, which only achieves a success rate of 18.8% after a significantly longer computation time. Supplemental materials and videos are available on our project webpage.

Bingchen Zhao, Shaozuo Yu, Wufei Ma et al.

Enhancing the robustness of vision algorithms in real-world scenarios is challenging. One reason is that existing robustness benchmarks are limited, as they either rely on synthetic data or ignore the effects of individual nuisance factors. We introduce OOD-CV, a benchmark dataset that includes out-of-distribution examples of 10 object categories in terms of pose, shape, texture, context and the weather conditions, and enables benchmarking models for image classification, object detection, and 3D pose estimation. In addition to this novel dataset, we contribute extensive experiments using popular baseline methods, which reveal that: 1. Some nuisance factors have a much stronger negative effect on the performance compared to others, also depending on the vision task. 2. Current approaches to enhance robustness have only marginal effects, and can even reduce robustness. 3. We do not observe significant differences between convolutional and transformer architectures. We believe our dataset provides a rich testbed to study robustness and will help push forward research in this area.