5 papers
Wearing A Coat: Dual-Arm Robot-Assisted Dressing with Differentiable Clothing Simulation
Yiming Liu, Lijun Han, Hesheng Wang
The development of assistive robots for dressing tasks serves to augment human convenience and improve the quality of life for individuals with physical impairments. However, due t…
SplatBright: Generalizable Low-Light Scene Reconstruction from Sparse Views via Physically-Guided Gaussian Enhancement
Yue Wen, Liang Song, Hesheng Wang
Low-light 3D reconstruction from sparse views remains challenging due to exposure imbalance and degraded color fidelity. While existing methods struggle with view inconsistency and…
A Shared Control Framework for Mobile Robots with Planning-Level Intention Prediction
Jinyu Zhang, Lijun Han, Feng Jian +2
In mobile robot shared control, effectively understanding human motion intention is critical for seamless human-robot collaboration. This paper presents a novel shared control fram…
FreeDriveRF: Monocular RGB Dynamic NeRF without Poses for Autonomous Driving via Point-Level Dynamic-Static Decoupling
Yue Wen, Liang Song, Yijia Liu +4
Dynamic scene reconstruction for autonomous driving enables vehicles to perceive and interpret complex scene changes more precisely. Dynamic Neural Radiance Fields (NeRFs) have rec…
Learning a General Model: Folding Clothing with Topological Dynamics
Yiming Liu, Lijun Han, Enlin Gu +1
The high degrees of freedom and complex structure of garments present significant challenges for clothing manipulation. In this paper, we propose a general topological dynamics mod…