Showing 2026Show all
3 papers · 1 filter
cs.RO2026
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…
cs.CV2026
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…
cs.CV2026
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…