6 papers
TacGELLO: Tactile Contact Feedback for a 3D-Printed Teleoperation Leader
Younsoo Kim, Sangmin Song, Sarath Kodagoda +2
Passive leader arms transmit an operator's motion without returning remote contact or load cues. TacGELLO uses the existing servos of a 3D-printed leader for tactile contact feedba…
VOIM: Training-Free Open-Vocabulary 3D Instance Mapping for RGB-D and Monocular SLAM
Sangmin Song, Sarath Kodagoda, Marc G. Carmichael +4
We present Voxel-Grounded Online Instance Manager (VOIM), a training-free voxel-grounded instance manager that builds open-vocabulary 3D instance maps from RGB-D or from monocular…
Overcoming Visual Clutter in Vision Language Action Models via Concept-Gated Visual Distillation
Sangmim Song, Sarath Kodagoda, Marc Carmichael +1
Vision-Language-Action (VLA) models demonstrate impressive zero-shot generalization but frequently suffer from a "Precision-Reasoning Gap" in cluttered environments. This failure i…
Guide-LLM: An Embodied LLM Agent and Text-Based Topological Map for Robotic Guidance of People with Visual Impairments
Sangmim Song, Sarath Kodagoda, Amal Gunatilake +3
Navigation presents a significant challenge for persons with visual impairments (PVI). While traditional aids such as white canes and guide dogs are invaluable, they fall short in…
Capacitive Sensor Based 2D Subsurface Imaging Technology for Non Destructive Evaluation of Building Surfaces
Lasitha Piyathilaka, Basura Sooriyaarachchi, Sarath Kodagoda +1
Understanding the underlying structure of building surfaces like walls and floors is essential when carrying out building maintenance and modification work. To facilitate such work…
Coloring graphs with no induced five-vertex path or gem
M. Chudnovsky, T. Karthick, P. Maceli +1
For a graph , let and respectively denote the chromatic number and clique number of . We give an explicit structural description of (,gem)-free graphs, and…