20 citations · 94 across the 57 of their papers we have counts for
12 papers · 1 filter
Proprioceptive Sketches as Long-Horizon Intent for Generative Action Policies
Fangyuan Wang, Songhao Huang, Haoxiang Sun +5
Generative robot policies predict short action chunks but lack explicit long-horizon intent. Recent methods expose longer-horizon structure through language plans, subgoal images,…
CAMP: Cooperative Arm-Hand Motion Planning in Constrained Spaces
Ziyuan Wang, Yunlong Shan, Fei Mo +6
Coordinated arm-hand motion planning is fundamental to dexterous robotic manipulation in complex and constrained environments. A straightforward solution is to decompose the proble…
Outcome-Sensitive Motion Search for Impact-Aware Dexterous Catching
Guorui Pei, Jinsong Wu, Songyuan Su +5
Skilled humans can catch fast-moving objects softly by coordinating interception, velocity matching, and follow-through to mitigate impact. Learning such impact-aware catching with…
CALM: Current Aligned Link Manipulation for Single Arm Oversized Object Lifting
Jun Hu, Sihan Chen, Kosta Jovanovic +4
Most robots manipulate objects solely with their end effectors, whereas humans flexibly leverage different body parts, such as the forearm and elbow, especially when handling overs…
Phase-and-First-Arrival VLM Feedback for Sparse-Reward Reinforcement Learning in Surgical Manipulation
Wanli Liuchen, Fangyuan Wang, Bin Li +4
Sparse outcome feedback limits what robots can learn from unsuccessful attempts at complex manipulation. Failed multi-stage surgical attempts can contain grasps, lifts, or transfer…
Dressing in Motion: A Human Motion-Aware Diffusion Policy for Robot-Assisted Dressing
Haoxiang Sun, Fangyuan Wang, Songhao Huang +4
Robotic dressing assistance is a promising solution for supporting older adults with physical impairments in daily living. However, dressing under human motion remains challenging,…
Vision-Based Tactile Intelligence for Robotics: Sensing, Learning, and Embodied Manipulation
Peng Zhou, Jun Hu, Sihan Chen +12
Tactile sensing is essential for robots in contact-rich tasks, yet many tactile sensors still provide sparse, low-dimensional signals that do not capture sufficient information for…
World Models for Robotic Manipulation: A Survey
Fangyuan Wang, Ziyuan Wang, Guorui Pei +15
Robotic manipulation depends on the ability to anticipate how actions reshape objects, contacts, and scene geometry before execution. Learned world models provide this capability b…
Open-H-Embodiment: A Large-Scale Dataset for Enabling Foundation Models in Medical Robotics
Open-H-Embodiment Consortium, :, Nigel Nelson +213
Autonomous medical robots hold promise to improve patient outcomes, reduce provider workload, democratize access to care, and enable superhuman precision. However, autonomous medic…
Think Proprioceptively: State-Grounded Visual Token Selection for VLA Policies
Fangyuan Wang, Peng Zhou, Jiaming Qi +4
Vision-language-action (VLA) models typically inject proprioception only as a late conditioning signal, preventing robot state from grounding instruction understanding or directing…
Failure-Aware Bimanual Teleoperation via Conservative Value Guided Assistance
Peng Zhou, Zhongxuan Li, Jinsong Wu +7
Teleoperation of high-precision manipulation is con-strained by tight success tolerances and complex contact dy-namics, which make impending failures difficult for human operators…
UniBiDex: A Unified Teleoperation Framework for Robotic Bimanual Dexterous Manipulation
Zhongxuan Li, Zeliang Guo, Jun Hu +4
We present UniBiDex a unified teleoperation framework for robotic bimanual dexterous manipulation that supports both VRbased and leaderfollower input modalities UniBiDex enables re…