26 citations · 29 across the 26 of their papers we have counts for
3 papers · 1 filter
ContactGuard: Pre-Contact Execution Monitoring with Action-Conditioned Latent World Models
Gehan Zheng, Matthew Johnson-Roberson, Weiming Zhi
Contact-rich manipulation failures are often detected only after the robot has committed to contact. This is especially limiting in wrist-camera setups: close gripper--object views…
One Scene, Two Depths: Probing Geometric Ambiguity in Monocular Foundation Models
Xiaohao Xu, Feng Xue, Xiang Li +5
A faithful 3D world representation should account for layered geometry, where a single camera ray may contain multiple visible and geometrically valid surfaces. Monocular depth est…
Rewind-IL: Online Failure Detection and State Respawning for Imitation Learning
Gehan Zheng, Sanjay Seenivasan, Matthew Johnson-Roberson +1
Imitation learning has enabled robots to acquire complex visuomotor manipulation skills from demonstrations, but deployment failures remain a major obstacle, especially for long-ho…