publications

2025

1. 

   On Transient Release Dynamics in Robot Throwing: A Sliding Pivot Model

   Yang Liu, and Aude Billard

   IEEE Transactions on Robotics, 2025

   Abs HTML

   This paper presents a sliding pivot model to model the transient release dynamics in robot throwing, providing insights into the mechanics of object release.

2. 

   Learning to Throw-Flip

   Yang Liu, Bruno Da Costa, and Aude Billard

   IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025

   Abs arXiv Video

   We present a learning-from-experience framework for robots to throw-flip.

3. 

   Learning Accurate Whole-body Throwing with High-frequency Residual Policy and Pullback Tube Acceleration

   Yuntao Ma, Yang Liu, Kaixian Qu, and Marco Hutter

   IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025

   Abs arXiv Video

   This work presents a method for learning accurate whole-body throwing using high-frequency residual policy combined with pullback tube acceleration.

2024

1. 

   Tube acceleration: robust dexterous throwing against release uncertainty

   Yang Liu, and Aude Billard

   IEEE Transactions on Robotics, 2024

   Abs HTML Video Poster Media Public Demo

   Tube Acceleration is a novel solution concept that drives the robot to stay in the family of object flying trajectories, so that the throwing outcome is robust against release uncertainty. Through insightful observations, Tube Acceleration can be found via convex optimization within 50ms.

2022

1. 

   A Solution to Adaptive Mobile Manipulator Throwing

   Yang Liu, Aradhana Nayak, and Aude Billard

   IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022

   Abs HTML PDF Code Public Demo

   Introduce Velocity Hedgehog, a dictionary of throwing configurations, carefully tailored to fit each robot’s geometry and actuator limits. It can be used for reactive and adpative throwing planning for its query efficiency.