18 citations · 32 across the 23 of their papers we have counts for
25 papers
2AM: Grounding Agent-Side Memory as Guidance for Steerable Action Models in Long-Horizon Manipulation
Yutong Hu, Fengjiao Chen, Xuezhi Cao +1
Long-horizon robot manipulation requires memory, but not necessarily inside the action policy. To address such tasks, current agentic systems often combine VLAs with planners and g…
FOCI Policy: Focus on Object-Centric Interactions for Relational Manipulation Policies
Ze Fu, Pinhao Song, Yutong Hu +1
Object-centric manipulation policies improve generalization by modeling object motion instead of directly predicting robot actions. However, existing methods are often limited by r…
Robot Trajectron V3: A Probabilistic Shared Control Framework for SE(3) Manipulation
Pinhao Song, Zhongxi Li, Ze Fu +2
We aim to address the challenge of teleoperating robotic arms for high-degree-of-freedom (high-DoF) manipulation tasks, which is cognitively demanding and error-prone, particularly…
Assistron: Bayesian Shared Autonomy with Off-the-shelf Vision-Language-Action Models
Pinhao Song, Ze Fu, Yutong Hu +1
We propose Assistron, a shared autonomy model that leverages Vision-Language-Action (VLA) models to assist the user in daily activities. Our approach is grounded in two core princi…
FF-JEPA: Long-Horizon Planning in World Models with Latent Planners
Sergi Masip, Jonathan Swinnen, Yutong Hu +2
Joint Embedding Predictive Architectures (JEPAs) have shown promising world modeling capabilities, enabling planning in latent space by optimizing action trajectories using methods…
CAD-Free Learning of Spacecraft Pose Estimators via NeRF-Based Augmentations
Antoine Legrand, Renaud Detry, Christophe De Vleeschouwer
Spacecraft pose estimation networks require tens of thousands of CAD-rendered images to be trained. This reliance on synthetic CAD data (i) limits applicability to targets with rel…
NeRF-based Spacecraft Reconstruction from Monocular Imagery Under Illumination Variability and Pose Uncertainty
Antoine Legrand, Renaud Detry, Christophe De Vleeschouwer
Autonomous rendezvous and proximity operations around uncooperative, unknown spacecraft are critical for active debris removal and on-orbit servicing missions. A key component of s…
ELVIS: Ensemble-Calibrated Latent Imagination for Long-Horizon Visual MPC
Yurui Du, Pinhao Song, Yutong Hu +1
A central challenge of visual control with model-based reinforcement learning (RL) is reliable long-horizon planning: long rollouts with learned latent dynamics exhibit branching f…
AR-VLA: True Autoregressive Action Expert for Vision-Language-Action Models
Yutong Hu, Jan-Nico Zaech, Nikolay Nikolov +6
We propose a standalone autoregressive (AR) Action Expert that generates actions as a continuous causal sequence while conditioning on refreshable vision-language prefixes. In cont…
NeRF-based Visualization of 3D Cues Supporting Data-Driven Spacecraft Pose Estimation
Antoine Legrand, Renaud Detry, Christophe De Vleeschouwer
On-orbit operations require the estimation of the relative 6D pose, i.e., position and orientation, between a chaser spacecraft and its target. While data-driven spacecraft pose es…
Reevaluating Convolutional Neural Networks for Spectral Analysis: A Focus on Raman Spectroscopy
Deniz Soysal, Xabier García-Andrade, Laura E. Rodriguez +3
Autonomous Raman instruments on Mars rovers, deep-sea landers, and field robots must interpret raw spectra distorted by fluorescence baselines, peak shifts, and limited ground-trut…
Robot Trajectron V2: A Probabilistic Shared Control Framework for Navigation
Pinhao Song, Yurui Du, Ophelie Saussus +4
We propose a probabilistic shared-control solution for navigation, called Robot Trajectron V2 (RT-V2), that enables accurate intent prediction and safe, effective assistance in hum…
On the Geometric Accuracy of Implicit and Primitive-based Representations Derived from View Rendering Constraints
Elias De Smijter, Renaud Detry, Christophe De Vleeschouwer
We present the first systematic comparison of implicit and explicit Novel View Synthesis methods for space-based 3D object reconstruction, evaluating the role of appearance embeddi…
TASC: Task-Aware Shared Control for Relational Telemanipulation
Ze Fu, Pinhao Song, Yutong Hu +1
We present TASC, a Task-Aware Shared Control framework for relational telemanipulation that infers task-level user intent and provides assistance from motion-only input. To support…
Equivariant Volumetric Grasping
Pinhao Song, Yutong Hu, Pengteng Li +1
We propose a new volumetric grasp model that is equivariant to rotations around the vertical axis, leading to a significant improvement in sampling efficiency. Our model employs a…
Mini Diffuser: Fast Multi-task Diffusion Policy Training Using Two-level Mini-batches
Yutong Hu, Pinhao Song, Kehan Wen +1
We present a method that reduces, by an order of magnitude, the time and memory needed to train multi-task vision-language robotic diffusion policies. This improvement arises from…
Domain Generalization for 6D Pose Estimation Through NeRF-based Image Synthesis
Antoine Legrand, Renaud Detry, Christophe De Vleeschouwer
This work introduces a novel augmentation method that increases the diversity of a train set to improve the generalization abilities of a 6D pose estimation network. For this purpo…
Leveraging Neural Radiance Fields for Pose Estimation of an Unknown Space Object during Proximity Operations
Antoine Legrand, Renaud Detry, Christophe De Vleeschouwer
We address the estimation of the 6D pose of an unknown target spacecraft relative to a monocular camera, a key step towards the autonomous rendezvous and proximity operations requi…
Domain Generalization for In-Orbit 6D Pose Estimation
Antoine Legrand, Renaud Detry, Christophe De Vleeschouwer
We address the problem of estimating the relative 6D pose, i.e., position and orientation, of a target spacecraft, from a monocular image, a key capability for future autonomous Re…
Robot Trajectron: Trajectory Prediction-based Shared Control for Robot Manipulation
Pinhao Song, Pengteng Li, Erwin Aertbelien +1
We address the problem of (a) predicting the trajectory of an arm reaching motion, based on a few seconds of the motion's onset, and (b) leveraging this predictor to facilitate sha…
Machine Vision based Sample-Tube Localization for Mars Sample Return
Shreyansh Daftry, Barry Ridge, William Seto +8
A potential Mars Sample Return (MSR) architecture is being jointly studied by NASA and ESA. As currently envisioned, the MSR campaign consists of a series of 3 missions: sample cac…
Rover Relocalization for Mars Sample Return by Virtual Template Synthesis and Matching
Tu-Hoa Pham, William Seto, Shreyansh Daftry +11
We consider the problem of rover relocalization in the context of the notional Mars Sample Return campaign. In this campaign, a rover (R1) needs to be capable of autonomously navig…
Assistive Relative Pose Estimation for On-orbit Assembly using Convolutional Neural Networks
Shubham Sonawani, Ryan Alimo, Renaud Detry +3
Accurate real-time pose estimation of spacecraft or object in space is a key capability necessary for on-orbit spacecraft servicing and assembly tasks. Pose estimation of objects i…
Invariant Feature Mappings for Generalizing Affordance Understanding Using Regularized Metric Learning
Martin Hjelm, Carl Henrik Ek, Renaud Detry +1
This paper presents an approach for learning invariant features for object affordance understanding. One of the major problems for a robotic agent acquiring a deeper understanding…