9 papers
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…
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…
DeblurSplat: SfM-free 3D Gaussian Splatting with Event Camera for Robust Deblurring
Pengteng Li, Yunfan Lu, Pinhao Song +4
In this paper, we propose the first Structure-from-Motion (SfM)-free deblurring 3D Gaussian Splatting method via event camera, dubbed DeblurSplat. We address the motion-deblurring…
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…
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…