4 papers
Imagination at Inference: Synthesizing In-Hand Views for Robust Visuomotor Policy Inference
Haoran Ding, Anqing Duan, Zezhou Sun +2
Visual observations from different viewpoints can significantly influence the performance of visuomotor policies in robotic manipulation. Among these, egocentric (in-hand) views of…
A Hybrid Hinge-Beam Continuum Robot with Passive Safety Capping for Real-Time Fatigue Awareness
Tongshun Chen, Zezhou Sun, Yanhan Sun +3
Cable-driven continuum robots offer high flexibility and lightweight design, making them well-suited for tasks in constrained and unstructured environments. However, prolonged use…
Towards Safe Imitation Learning via Potential Field-Guided Flow Matching
Haoran Ding, Anqing Duan, Zezhou Sun +4
Deep generative models, particularly diffusion and flow matching models, have recently shown remarkable potential in learning complex policies through imitation learning. However,…
Can Large Vision Language Models Read Maps Like a Human?
Shuo Xing, Zezhou Sun, Shuangyu Xie +6
In this paper, we introduce MapBench-the first dataset specifically designed for human-readable, pixel-based map-based outdoor navigation, curated from complex path finding scenari…