14 citations · 14 across the 11 of their papers we have counts for
13 papers
FreeSpeed: Training-Free Speed Control for Generative Robot Policies
Yuxuan Hu, Shilin Shan, Qiheng Wang +4
Online control of execution speed is essential for deploying robot policies in real-world scenarios, as robots may need to speed up under time constraints or slow down to facilitat…
Learning to Assess Heartbeat Observability for mmWave Heart-Rate Sensing
Yuxuan Hu, Shilin Shan, Jianfei Yang +1
Contactless heart-rate sensing with millimeter-wave (mmWave) radar requires assessing whether individual measurements support reliable estimation. We study learning to assess heart…
Learning Physical Interaction: A Survey of Tactile- and Force-aware Robot Learning
Shilin Shan, Chuhao Zhou, Ruize Wang +30
Physically grounded robot intelligence requires robots to perceive, reason about, and regulate their interactions with the physical world. This capability is particularly critical…
Trans2Occ: Voxel Occupancy Estimation and Grasp for Transparent Objects from Simulation to Reality
Yixuan Yang, Sha Zhang, Rui Li +12
Transparent objects remain challenging for robotic perception due to unreliable depth sensing caused by refraction and reflection. While prior approaches rely on multi-view reconst…
OccamToken: Efficient VLM Inference with Training-Free and Budget-Adaptive Token Pruning
Geng Li, Guohao Chen, Ting Chen +6
Vision-language models (VLMs) rely on long visual token sequences for visual understanding, making the prefill stage expensive in both computation and memory. Most existing pruning…
CompassAD: Intent-Driven 3D Affordance Grounding in Functionally Competing Objects
Jingliang Li, Jindou Jia, Tuo An +7
When told to "cut the cake," a robot must choose the knife over nearby scissors, despite both objects affording the same cutting function. In real-world scenes, multiple objects ma…
EVA-0: Test-Time Model Evolution with Only Two Forward Passes per Sample
Guohao Chen, Shuaicheng Niu, Geng Li +4
Test-time model evolution offers a promising way for deployed models to improve from unlabeled test-time experience, yet most existing methods depend on backpropagation (BP), which…
Adaptive Manipulation Potential and Haptic Estimation for Tool-Mediated Interaction
Lin Yang, Anirvan Dutta, Yuan Ji +5
Achieving human-level dexterity in contact-rich, tool-mediated manipulation remains a significant challenge due to visual occlusion and the underdetermined nature of haptic sensing…
Estimating Force Interactions of Deformable Linear Objects from their Shapes
Qi Jing Chen, Shilin Shan, Timothy Bretl +1
This work introduces an analytical approach for detecting and estimating external forces acting on deformable linear objects (DLOs) using only their observed shapes. In many robot-…
Robotic Manipulation of a Rotating Chain with Bottom End Fixed
Qi Jing Chen, Shilin Shan, Quang-Cuong Pham
This paper studies the problem of using a robot arm to manipulate a uniformly rotating chain with its bottom end fixed. Existing studies have investigated ideal rotational shapes f…
Fast Payload Calibration for Sensorless Contact Estimation Using Model Pre-training
Shilin Shan, Quang-Cuong Pham
Force and torque sensing is crucial in robotic manipulation across both collaborative and industrial settings. Traditional methods for dynamics identification enable the detection…
Sensorless Estimation of Contact Using Deep-Learning for Human-Robot Interaction
Shilin Shan, Quang-Cuong Pham
Physical human-robot interaction has been an area of interest for decades. Collaborative tasks, such as joint compliance, demand high-quality joint torque sensing. While external t…
Fine Robotic Manipulation without Force/Torque Sensor
Shilin Shan, Quang-Cuong Pham
Force Sensing and Force Control are essential to many industrial applications. Typically, a 6-axis Force/Torque (F/T) sensor is mounted between the robot's wrist and the end-effect…