Xincheng He

Xincheng He, Rongrong Zhang, Wei Jiang et al.

Accurate physical parameter identification of manipulated objects is fundamental to advanced robotic manipulation and the construction of faithful digital twins. However, acquiring physically consistent inertial and frictional properties from real-world interactions remains challenging due to sensing noise, modeling errors, and limited prior knowledge. This paper presents \textbf{RigPI}, a systematic framework for identifying dynamic parameters of both unconstrained rigid bodies and multi-link rigid bodies during robot-object interaction. RigPI integrates vision-based semantic priors, force-torque measurements, and motion observations within a differentiable simulation pipeline. A vision-language model (VLM) provides informed initialization and a constrained search space, while gradient information from a differentiable physics simulator enables efficient and stable parameter refinement. The proposed two-stage optimization strategy alleviates sensitivity to noise and avoids physically implausible solutions. Extensive real-world experiments on objects with revolute and prismatic joints demonstrate that RigPI achieves accurate and stable parameter estimates, and successfully reproduces manipulation trajectories on a real robot with parameter-aware predictive validity. These results highlight the effectiveness and robustness of RigPI for real-world robotic system identification tasks.

Xincheng He, Lei Xu, Xiangyu Zhang et al.

API recommendation in real-time is challenging for dynamic languages like Python. Many existing API recommendation techniques are highly effective, but they mainly support static languages. A few Python IDEs provide API recommendation functionalities based on type inference and training on a large corpus of Python libraries and third-party libraries. As such, they may fail to recommend or make poor recommendations when type information is missing or target APIs are project-specific. In this paper, we propose a novel approach, PyART, to recommend APIs for Python programs in real-time. It features a light-weight analysis to derives so-called optimistic data-flow, which is neither sound nor complete, but simulates the local data-flow information humans can derive. It extracts three kinds of features: data-flow, token similarity, and token co-occurrence, in the context of the program point where a recommendation is solicited. A predictive model is trained on these features using the Random Forest algorithm. Evaluation on 8 popular Python projects demonstrates that PyART can provide effective API recommendations. When historic commits can be leveraged, which is the target scenario of a state-of-the-art tool ARIREC, our average top-1 accuracy is over 50% and average top-10 accuracy over 70%, outperforming APIREC and Intellicode (i.e., the recommendation component in Visual Studio) by 28.48%-39.05% for top-1 accuracy and 24.41%-30.49% for top-10 accuracy. In other applications such as when historic comments are not available and cross-project recommendation, PyART also shows better overall performance. The time to make a recommendation is less than a second on average, satisfying the real-time requirement.