1 citations · 1 across the 9 of their papers we have counts for
15 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…
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…