136 citations · 136 across the 16 of their papers we have counts for
19 papers
RefGuard: Identity-Aware Language-Guided Robot Manipulation via Joint Target-Anchor-Frame Grounding
Lan Wei, Kangyi Lu, Yongchen Wang +5
Vision-language-action (VLA) models have substantially advanced language-guided robot manipulation, yet reliable execution still hinges on identifying which physical object an inst…
Bridging Semantics and Physics with Constrained LLMs for Safe and Trustworthy Robotic Manipulation
Wenhao Hong, Lan Wei, Dandan Zhang
A language-guided robot operating in a real kitchen must do more than produce a plan that appears correct. It must also execute that plan safely in cluttered environments under imp…
A Closed-Loop Multi-Agent Framework for Robust Multi-Robot Manipulation
Yi-Xiang He, Lan Wei, Haoming Cen +6
Multi-robot systems provide the parallelism and redundancy necessary for long-horizon tasks, while Large Language Models (LLMs) offer the reasoning capabilities to decompose these…
TacEvo: Self-Evolving Architecture Discovery for Robotic Tactile Perception via LLM-Driven Quality-Diversity Search
Mohammed AbuSadeh, Lan Wei, Dandan Zhang
Vision-based tactile sensing converts contact-induced surface deformation into images, enabling robots to infer contact forces and fine surface textures that are not accessible thr…
TacVerse: A Multi-Sensor Dataset and Benchmark for Cross-Sensor Vision-Based Tactile Perception
Lan Wei, Gurmeher Khurana, Sirine Bhouri +6
Vision-based tactile sensors (VBTSs) enable robots to infer contact geometry and force-related cues by imaging deformation through an internal camera, yet generalisation across sen…
Task Editing for Generalizable 3D Visuomotor Policy Learning
Jian-Jian Jiang, YiHan Yang, Lan Wei +6
3D visuomotor policies offer a promising direction for complex robotic manipulation, as depth maps and point clouds provide rich geometric information for spatial reasoning. Howeve…
Mag-VLA: Vision-Language-Action Model for Bimanual Magnetically Actuated Microrobot Manipulation
Yongchen Wang, Kangyi Lu, Lan Wei +1
Magnetically actuated microrobots have been used as wireless, non-contact manipulation tools at microscales, making them promising for minimally invasive applications. However, the…
A Digital Twin Framework for Virtual Visuo-Haptic Teleoperation of Complex-Shaped Optical Microrobots
Zongcai Tan, Lan Wei, Dandan Zhang
Optical tweezers (OT) provide piconewton-scale manipulation for delicate biomedical tasks, where visuo-haptic feedback can improve operator awareness by conveying interaction-force…
Dual-Control Frequency-Aware Diffusion Model for Depth-Dependent Optical Microrobot Microscopy Image Generation
Lan Wei, Zongcai Tan, Kangyi Lu +2
Optical microrobots actuated by optical tweezers (OT) are important for cell manipulation and microscale assembly, but their autonomous operation depends on accurate 3D perception.…
Micro-Dexterity in Biological Micromanipulation: Embodiment, Perception, and Control
Kangyi Lu, Lan Wei, Zongcai Tan +1
Microscale manipulation has advanced substantially in controlled locomotion and targeted transport, yet many biomedical applications require precise and adaptive interaction with b…
Surgi-HDTMR: Closing the Sensorimotor Loop in Bimanual Microsurgery via Haptics, Digital Twin, and Mixed Reality
Songming Ping, Shaoyue Wen, Junhong Chen +3
Robotic microsurgery demands precise bimanual control, intuitive interaction, and informative force feedback. However, most training platforms for robotic microsurgery lack immersi…
Context-Aware Adaptive Shared Control for Magnetically-Driven Bimanual Dexterous Micromanipulation
Yongchen Wang, Kangyi Lu, Lan Wei +1
Magnetically actuated robots provide a promising untethered platform for navigation in confined environments, enabling biological studies and targeted micro-delivery. However, dext…
MultiDiffSense: Diffusion-Based Multi-Modal Visuo-Tactile Image Generation Conditioned on Object Shape and Contact Pose
Sirine Bhouri, Lan Wei, Jian-Qing Zheng +1
Acquiring aligned visuo-tactile datasets is slow and costly, requiring specialised hardware and large-scale data collection. Synthetic generation is promising, but prior methods ar…
TactEx: An Explainable Multimodal Robotic Interaction Framework for Human-Like Touch and Hardness Estimation
Felix Verstraete, Lan Wei, Wen Fan +1
Accurate perception of object hardness is essential for safe and dexterous contact-rich robotic manipulation. Here, we present TactEx, an explainable multimodal robotic interaction…
SARL: Spatially-Aware Self-Supervised Representation Learning for Visuo-Tactile Perception
Gurmeher Khurana, Lan Wei, Dandan Zhang
Contact-rich robotic manipulation requires representations that encode local geometry. Vision provides global context but lacks direct measurements of properties such as texture an…
Physics-Informed Machine Learning for Efficient Sim-to-Real Data Augmentation in Micro-Object Pose Estimation
Zongcai Tan, Lan Wei, Dandan Zhang
Precise pose estimation of optical microrobots is essential for enabling high-precision object tracking and autonomous biological studies. However, current methods rely heavily on…
Physics-Informed Machine Learning with Adaptive Grids for Optical Microrobot Depth Estimation
Lan Wei, Lou Genoud, Dandan Zhang
Optical microrobots actuated by optical tweezers (OT) offer great potential for biomedical applications such as cell manipulation and microscale assembly. These tasks demand accura…
Coarse-to-Fine Learning for Multi-Pipette Localisation in Robot-Assisted In Vivo Patch-Clamp
Lan Wei, Gema Vera Gonzalez, Phatsimo Kgwarae +4
In vivo image-guided multi-pipette patch-clamp is essential for studying cellular interactions and network dynamics in neuroscience. However, current procedures mainly rely on manu…
Boundary-aware Transformers for Skin Lesion Segmentation
Jiacheng Wang, Lan Wei, Liansheng Wang +3
Skin lesion segmentation from dermoscopy images is of great importance for improving the quantitative analysis of skin cancer. However, the automatic segmentation of melanoma is a…