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cs.RO2026
Wrench-Based Bayesian Pose Estimation via Matrix--Fisher Gaussian Inference
Jianyu Chen, Lin Yang, Yibang Li +2
In this paper, a residual-safeguarded local Matrix Fisher--Gaussian (MFG) inference method is developed for wrench-based pose estimation on . The…
cs.RO2026
Adaptive Manipulation Potential and Haptic Estimation for Tool-Mediated Interaction
Lin Yang, Anirvan Dutta, Yuan Ji +5
Achieving human-level dexterity in contact-rich, tool-mediated manipulation remains a significant challenge due to visual occlusion and the underdetermined nature of haptic sensing…