8 papers
Decoupled Object-Centric Video Understanding for Generating Robotic Manipulation Commands
Thanh Nguyen Canh, Thanh-Tuan Tran, Haolan Zhang +3
Translating video demonstrations into executable robot commands remains challenging because existing methods often fail to identify which objects are functionally involved in the d…
Con-DSO: Learning Short-Horizon Consistency Priors for RGB-D Direct Sparse Odometry
Haolan Zhang, Thanh Nguyen Canh, Chenghao Li +3
Visual odometry (VO) is a fundamental component in robotics and augmented reality. RGB-D direct VO benefits from metric depth measurements, but it can degrade in challenging enviro…
Visual Prompt Guided Unified Pushing Policy
Hieu Bui, Ziyan Gao, Yuya Hosoda +1
As one of the simplest non-prehensile manipulation skills, pushing has been widely studied as an effective means to rearrange objects. Existing approaches, however, typically rely…
Human-to-Robot Interaction: Learning from Video Demonstration for Robot Imitation
Thanh Nguyen Canh, Thanh-Tuan Tran, Haolan Zhang +3
Learning from Demonstration (LfD) offers a promising paradigm for robot skill acquisition. Recent approaches attempt to extract manipulation commands directly from video demonstrat…
Online 3D Bin Packing with Fast Stability Validation and Stable Rearrangement Planning
Ziyan Gao, Lijun Wang, Yuntao Kong +1
The Online Bin Packing Problem (OBPP) is a sequential decision-making task in which each item must be placed immediately upon arrival, with no knowledge of future arrivals. Althoug…
BERP: A Blind Estimator of Room Parameters for Single-Channel Noisy Speech Signals
Lijun Wang, Yixian Lu, Ziyan Gao +4
Room acoustical parameters (RAPs), room geometrical parameters (RGPs) and instantaneous occupancy level are essential metrics for parameterizing the room acoustical characteristics…