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cs.RO2026
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…
cs.RO2026
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…
cs.LG2026
ELVIS: Ensemble-Calibrated Latent Imagination for Long-Horizon Visual MPC
Yurui Du, Pinhao Song, Yutong Hu +1
A central challenge of visual control with model-based reinforcement learning (RL) is reliable long-horizon planning: long rollouts with learned latent dynamics exhibit branching f…