Publications

Wei Gao, Jingqiang Wang, Xinv Zhu, Jun Zhong, Yue Shen, Youshuang Ding. KiloBot: A Programming Language for Deploying Perception-Guided Industrial Manipulators at Scale. Preprint 2024.
[PDF] [Video]

Wei Gao, Efficient Incremental Penetration Depth Estimation between Convex Geometries. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2024.
[PDF] [Code] [Supplemental]

Wei Gao, Russ Tedrake. kPAM 2.0: Feedback Control for Category-Level Robotic Manipulation. In IEEE Robotic and Automation Letters (RA-L) and ICRA 2021.
— Best Manipulation Paper Finalist at ICRA 2021
— Also Best Paper Award at RSS Workshop on Visual Manipulation
[Paper] [Workshop] [Video] [Presentation]

Wei Gao, Russ Tedrake. kPAM-SC: Generalizable Manipulation Planning using KeyPoint Affordance and Shape Completion. In International Conference on Robotics and Automation (ICRA) 2021.
[Paper] [Video]

Lucas Manuelli*, Wei Gao*, Peter Florence, Russ Tedrake. kPAM: KeyPoint Affordances for Category-Level Robotic Manipulation. In International Symposium on Robotics Research (ISRR) 2019.
[PDF] [Video] [Code] [Supplemental]

Wei Gao, Russ Tedrake. FilterReg: Robust and Efficient Probabilistic Point-Set Registration using Gaussian Filter and Twist Parameterization. In IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2019.
— Oral Presentation and Best Paper Finalist
[PDF] [Video] [Code] [Supplemental]

Wei Gao, Russ Tedrake. SurfelWarp: Efficient Non-Volumetric Dynamic Reconstruction. In Robotics Sicence and Systems (RSS) 2018.
[PDF] [Video] [Code] [Presentation]

Wei Gao, Liting Sun, Masayoshi Tomizuka. A Guided Search Framework in Multiple Model Control. In IEEE Annual Conference on Decision and Control (CDC) 2017.
[PDF] [Conference]

Yongxiang Fan*, Wei Gao*, Wenjie Chen, Masayoshi Tomizuka. Real-Time Finger Gaits Planning for Dexterous Manipulation. In International Federation of Automatic Control (IFAC) 2017.
[PDF] [Video] [Conference]

Yongxiang Fan, Liting Sun, Minghui Zheng, Wei Gao, Masayoshi Tomizuka (2017). Robust Dexterous Manipulation under Object Dynamics Uncertainties. In IEEE International Conference on Advanced Intelligent Mechatronics (AIM) 2017
[PDF] [Conference]