5 papers
DexDirect: Direct Kinesthetic Arm Guidance for Efficient Dexterous Demonstration Collection
Beom Jun Kim, Shiu-Jen Wang, Jonathan Liu +7
Scalable collection of dexterous manipulation demonstrations remains a major bottleneck for robot learning. High-fidelity interfaces often require costly hardware and extensive set…
RAVEN: Reinforcement-Adaptive Visibility-Graph Planning for Robust Humanoid Navigation with Collision-Free MPC
Ruochen Hou, Shiqi Wang, Beom Jun Kim +3
Humanoid navigation in dynamic environments requires long-horizon planning while respecting short-horizon dynamic and safety constraints. Classical visibility-graph planners combin…
DexEXO: A Wearability-First Dexterous Exoskeleton for Operator-Agnostic Demonstration and Learning
Alvin Zhu, Mingzhang Zhu, Beom Jun Kim +10
Scaling dexterous robot learning is constrained by the difficulty of collecting high-quality demonstrations across diverse operators. Existing wearable interfaces often trade comfo…
NiMark: A Non-intrusive Watermarking Framework against Screen-shooting Attacks
Yufeng Wu, Xin Liao, Baowei Wang +3
Unauthorized screen-shooting poses a critical data leakage risk. Resisting screen-shooting attacks typically requires high-strength watermark embedding, inevitably degrading the co…
Sim-to-Real: An Unsupervised Noise Layer for Screen-Camera Watermarking Robustness
Yufeng Wu, Xin Liao, Baowei Wang +4
Unauthorized screen capturing and dissemination pose severe security threats such as data leakage and information theft. Several studies propose robust watermarking methods to trac…