5 papers
R2HandoverSim: A Simulation Framework and Benchmark for Robot-to-Human Object Handovers
Hanxin Zhang, Abdulqader Dhafer, Hongbiao Dong +1
We present R2HandoverSim, a simulation benchmark for robot-to-human (R2H) object handovers. Although R2H handover methods have advanced rapidly, the lack of standardized evaluation…
Intent-Handover: Grounding Language in Human-Usage Regions for Trustworthy Robot-to-Human Handovers
Hanxin Zhang, Abdulqader Dhafer, Hongbiao Dong +1
Spoken instructions in robot-to-human handovers may specify either an object ("the cup") or an intended use ("pour water"); in both cases, successful handover requires the robot to…
Embodied Interpretability: Linking Causal Understanding to Generalization in Vision-Language-Action Models
Hanxin Zhang, Mingshuo Xu, Abdulqader Dhafer +3
Vision-Language-Action (VLA) policies often fail under distribution shift, suggesting that decisions may depend on spurious visual correlations rather than task-relevant causes. We…
vSTMD: Visual Motion Detection for Extremely Tiny Target at Various Velocities
Mingshuo Xu, Hao Luan, Zhou Daniel Hao +2
Visual motion detection for extremely tiny (ET-) targets is challenging, due to their category-independent nature and the scarcity of visual cues, which often incapacitate mainstre…
Exploring Grokking: Experimental and Mechanistic Investigations
Hu Qiye, Zhou Hao, Yu RuoXi
The phenomenon of grokking in over-parameterized neural networks has garnered significant interest. It involves the neural network initially memorizing the training set with zero t…