1 citations · 1 across the 10 of their papers we have counts for
7 papers · 1 filter
Robot Trajectron V3: A Probabilistic Shared Control Framework for SE(3) Manipulation
Pinhao Song, Zhongxi Li, Ze Fu +2
We aim to address the challenge of teleoperating robotic arms for high-degree-of-freedom (high-DoF) manipulation tasks, which is cognitively demanding and error-prone, particularly…
Assistron: Bayesian Shared Autonomy with Off-the-shelf Vision-Language-Action Models
Pinhao Song, Ze Fu, Yutong Hu +1
We propose Assistron, a shared autonomy model that leverages Vision-Language-Action (VLA) models to assist the user in daily activities. Our approach is grounded in two core princi…
Robot Trajectron V2: A Probabilistic Shared Control Framework for Navigation
Pinhao Song, Yurui Du, Ophelie Saussus +4
We propose a probabilistic shared-control solution for navigation, called Robot Trajectron V2 (RT-V2), that enables accurate intent prediction and safe, effective assistance in hum…
TASC: Task-Aware Shared Control for Relational Telemanipulation
Ze Fu, Pinhao Song, Yutong Hu +1
We present TASC, a Task-Aware Shared Control framework for relational telemanipulation that infers task-level user intent and provides assistance from motion-only input. To support…
Equivariant Volumetric Grasping
Pinhao Song, Yutong Hu, Pengteng Li +1
We propose a new volumetric grasp model that is equivariant to rotations around the vertical axis, leading to a significant improvement in sampling efficiency. Our model employs a…
Mini Diffuser: Fast Multi-task Diffusion Policy Training Using Two-level Mini-batches
Yutong Hu, Pinhao Song, Kehan Wen +1
We present a method that reduces, by an order of magnitude, the time and memory needed to train multi-task vision-language robotic diffusion policies. This improvement arises from…
Robot Trajectron: Trajectory Prediction-based Shared Control for Robot Manipulation
Pinhao Song, Pengteng Li, Erwin Aertbelien +1
We address the problem of (a) predicting the trajectory of an arm reaching motion, based on a few seconds of the motion's onset, and (b) leveraging this predictor to facilitate sha…