9 papers
T-WLA: Bridging Slow Vision and Fast Touch
Kaichen Zhou, Yuzhen Chen, Hannah Yao +14
In contact-rich manipulation, contact conditions can change before a visual policy updates its action plan. Recomputing the plan through the visual policy adds latency, while tacti…
WCM: World-Cognition Model for Generalizable Human-Robot Interaction
Yuzhen Chen, KC Zhou
Language agents can now interact fluently with users in software, but robots still struggle to bring comparable interaction to physical tasks. Current robot-control paradigms, incl…
GEM-4D: Geometry-Enhanced Video World Models for Robot Manipulation
Kaichen Zhou, Yuzhen Chen, Fangneng Zhan +8
Video world models can generate realistic futures from a single instruction, but they often fail to track the same physical points consistently across time. As a result, the genera…
SLIM-VDB: A Real-Time 3D Probabilistic Semantic Mapping Framework
Anja Sheppard, Parker Ewen, Joey Wilson +6
This paper introduces SLIM-VDB, a new lightweight semantic mapping system with probabilistic semantic fusion for closed-set or open-set dictionaries. Advances in data structures fr…
LMG Index: A Robust and Efficient Learned Index Framework for Multi-Dimensional Performance Balance
Yuzhen Chen, Bin Yao
Index structures are fundamental for efficient query processing on large-scale datasets. Learned indexes model the indexing process as a prediction problem to overcome the inherent…
MatPredict: a dataset and benchmark for learning material properties of diverse indoor objects
Yuzhen Chen, Hojun Son, Arpan Kusari
Determining material properties from camera images can expand the ability to identify complex objects in indoor environments, which is valuable for consumer robotics applications.…
DEFT: Differentiable Branched Discrete Elastic Rods for Modeling Furcated DLOs in Real-Time
Yizhou Chen, Xiaoyue Wu, Felicia Sang +6
Autonomous wire-harness assembly requires precise, reliable manipulation of branched cables, whose deformation is difficult to predict. Models for single Deformable Linear Objects…
Differentiable Discrete Elastic Rods for Real-Time Modeling of Deformable Linear Objects
Yizhou Chen, Yiting Zhang, Zachary Brei +4
This paper addresses the task of modeling Deformable Linear Objects (DLOs), such as ropes and cables, during dynamic motion over long time horizons. This task presents significant…
You've Got to Feel It To Believe It: Multi-Modal Bayesian Inference for Semantic and Property Prediction
Parker Ewen, Hao Chen, Yuzhen Chen +4
Robots must be able to understand their surroundings to perform complex tasks in challenging environments and many of these complex tasks require estimates of physical properties s…