3 papers
cs.RO2026
FingerViP: Learning Real-World Dexterous Manipulation with Fingertip Visual Perception
Zhen Zhang, Weinan Wang, Hejia Sun +4
The current practice of dexterous manipulation generally relies on a single wrist-mounted view, which is often occluded and limits performance on tasks requiring multi-view percept…
cs.RO2025
Hierarchical Deformation Planning and Neural Tracking for DLOs in Constrained Environments
Yunxi Tang, Tianqi Yang, Jing Huang +2
Deformable linear objects (DLOs) manipulation presents significant challenges due to DLOs' inherent high-dimensional state space and complex deformation dynamics. The wide-populate…
cs.RO2025
Vibration-Based Energy Metric for Restoring Needle Alignment in Autonomous Robotic Ultrasound
Zhongyu Chen, Chenyang Li, Xuesong Li +5
Precise needle alignment is essential for percutaneous needle insertion in robotic ultrasound-guided procedures. However, inherent challenges such as speckle noise, needle-like art…