27 citations · 80 across the 96 of their papers we have counts for
11 papers · 1 filter
ϕ-RIE: From Photorealistic Reconstruction to Interactive Environments
Runyi Yang, Deheng Zhang, Xiaoye Wang +6
3D Gaussian Splatting (3DGS) can reconstruct a captured scene photorealistically, but the resulting representation does not by itself support physical interaction. Robot simulation…
FOCAL-VLA: Subtask-Guided Geometry Distillation and Implicit World Modeling for Vision-Language-Action Models
Zhiyuan Gao, Di Wen, Yanxiang Zhan +4
Vision-language-action (VLA) models built on pretrained vision-language models have demonstrated strong performance across diverse robotic manipulation tasks. However, VLA models t…
INSPECT: Learning Robot View Selection from Assistant Use
Di Wen, Kailun Yang, Wenhao Guo +7
Robots inspecting an assembly must determine which parts are present and whether they are correctly installed. During egocentric assembly assistance, head motion and workpiece hand…
CoRef-GS: Cooperative Referring Gaussian Splatting for Multi-Agent Scene Understanding
Zhikun Zhou, Kunyu Peng, Runyi Yang +7
Referring scene understanding for embodied robots requires grounding object- and relation-centric language queries from a designated viewpoint. While a local semantic Gaussian map…
RoboFind: Multi-Agent Personalized Object Search for People Who Are Blind or Have Low Vision
Ruiping Liu, Shaofang Quan, Qian Yin +10
Blind and low-vision users often need to locate a specific personal object rather than an arbitrary instance of the same category. The task calls for a robot that can move through…
GuideFetch: A Task Coordination Framework for Concurrent Navigation and Object Retrieval in Assistive Robot Dogs
Qian Yin, Ruiping Liu, Kunyu Peng +7
Consider one robot guide dog escorting a blind user to a seat while a second retrieves and delivers an object. We introduce \textsc{GuideFetch}, a framework for coordinating this c…
Hand-centric Human-to-Robot Trajectory Transfer from Video Demonstrations via Object Category-agnostic Temporal Localization
Yitian Shi, Di Wen, Zhengqi Han +6
Human videos provide a scalable source of demonstrations for robot imitation learning. However, converting them into executable and semantically aligned robot trajectories requires…
Not an Obstacle for Dog, but a Hazard for Human: A Co-Ego Navigation System for Guide Dog Robots
Ruiping Liu, Jingqi Zhang, Junwei Zheng +8
Guide dogs offer independence to Blind and Low-Vision (BLV) individuals, yet their limited availability leaves the vast majority of BLV users without access. Quadruped robotic guid…
VISO-Grasp: Vision-Language Informed Spatial Object-centric 6-DoF Active View Planning and Grasping in Clutter and Invisibility
Yitian Shi, Di Wen, Guanqi Chen +5
We propose VISO-Grasp, a novel vision-language-informed system designed to systematically address visibility constraints for grasping in severely occluded environments. By leveragi…
Tightly-Coupled LiDAR-Visual SLAM Based on Geometric Features for Mobile Agents
Ke Cao, Ruiping Liu, Ze Wang +6
The mobile robot relies on SLAM (Simultaneous Localization and Mapping) to provide autonomous navigation and task execution in complex and unknown environments. However, it is hard…
MateRobot: Material Recognition in Wearable Robotics for People with Visual Impairments
Junwei Zheng, Jiaming Zhang, Kailun Yang +2
People with Visual Impairments (PVI) typically recognize objects through haptic perception. Knowing objects and materials before touching is desired by the target users but under-e…