1 citations · 1 across the 9 of their papers we have counts for
10 papers
KUKAloha: A General, Low-Cost, and Shared-Control based Teleoperation Framework for Construction Robot Arm
Yifan Xu, Qizhang Shen, Vineet Kamat +1
This paper presents KUKAloha, a general, low-cost, and shared-control teleoperation framework designed for construction robot arms. The proposed system employs a leader-follower pa…
Unifying Deep Predicate Invention with Pre-trained Foundation Models
Qianwei Wang, Bowen Li, Zhanpeng Luo +6
Long-horizon robotic tasks are hard due to continuous state-action spaces and sparse feedback. Symbolic world models help by decomposing tasks into discrete predicates that capture…
OpenGuide: Assistive Object Retrieval in Indoor Spaces for Individuals with Visual Impairments
Yifan Xu, Qianwei Wang, Vineet Kamat +1
Indoor built environments like homes and offices often present complex and cluttered layouts that pose significant challenges for individuals who are blind or visually impaired, es…
CoNav Chair: Development and Evaluation of a Shared Control based Wheelchair for the Built Environment
Yifan Xu, Qianwei Wang, Jordan Lillie +3
As the global population of people with disabilities (PWD) continues to grow, so will the need for mobility solutions that promote independent living and social integration. Wheelc…
Open-Vocabulary Semantic Segmentation with Uncertainty Alignment for Robotic Scene Understanding in Indoor Building Environments
Yifan Xu, Vineet Kamat, Carol Menassa
The global rise in the number of people with physical disabilities, in part due to improvements in post-trauma survivorship and longevity, has amplified the demand for advanced ass…
OVAMOS: A Framework for Open-Vocabulary Multi-Object Search in Unknown Environments
Qianwei Wang, Yifan Xu, Vineet Kamat +1
Object search is a fundamental task for robots deployed in indoor building environments, yet challenges arise due to observation instability, especially for open-vocabulary models.…
CoNav Chair: Design of a ROS-based Smart Wheelchair for Shared Control Navigation in the Built Environment
Yifan Xu, Qianwei Wang, Jordan Lillie +2
With the number of people with disabilities (PWD) increasing worldwide each year, the demand for mobility support to enable independent living and social integration is also growin…
Seeing with Partial Certainty: Conformal Prediction for Robotic Scene Recognition in Built Environments
Yifan Xu, Vineet Kamat, Carol Menassa
In assistive robotics serving people with disabilities (PWD), accurate place recognition in built environments is crucial to ensure that robots navigate and interact safely within…
Point2Graph: An End-to-end Point Cloud-based 3D Open-Vocabulary Scene Graph for Robot Navigation
Yifan Xu, Ziming Luo, Qianwei Wang +2
Current open-vocabulary scene graph generation algorithms highly rely on both 3D scene point cloud data and posed RGB-D images and thus have limited applications in scenarios where…
Socially-Aware Shared Control Navigation for Assistive Mobile Robots in the Built Environment
Yifan Xu, Qianwei Wang, Vineet Kamat +1
As the number of Persons with Disabilities (PWD), particularly those with one or more physical impairments, increases, there is an increasing demand for assistive robotic technolog…