7 papers
Physical SLAM: Physics-aware Simultaneous Localisation and Mapping
Guangming Wang, Zhishuo Liu, Haibing Wu +4
To reconstruct a predictive 4D representation of the physical world from monocular video captured by a moving camera, we jointly reconstruct dynamic Gaussian radiance fields and in…
SwingRL: Adaptive Observation Reinforcement Learning with World-Model Prediction for Cable-Suspended Hoisting Control
Guangming Wang, Xiaoyu Zhang, Yucheng Xin +8
Cable-suspended hoisting is widely used to move heavy or bulky payloads that cannot be handled conveniently by rigid pick-and-place systems, for example in crane-assisted construct…
A Brain-inspired Hierarchical Framework for Zero-Shot Robot Task Reasoning and Execution
Guangming Wang, Pengfei Ye, Qizhen Ying +7
Robots that follow open-ended language instructions need to connect semantic intent to visual scene understanding, geometric feasibility, object states, and physical interaction co…
BendTwin: Robust Dense-to-Sparse Physical Reconstruction with Bending-Aware Differentiable Spring-Mass Models
Yixiong Jing, Qi Wang, Lin Chen +6
Reconstructing objects with mechanical properties from video observations enables physically consistent dynamic prediction, benefiting robotics planning and interaction. Existing s…
PhySPRING: Structure-Preserving Reduction of Physics-Informed Twins via GNN
Yixiong Jing, Xingyuan Chen, Guangming Wang +3
Physics-based digital twins aim to predict the dynamics of real-world objects under interaction, enabling real-to-sim-to-real applications in robotics. Current approaches reconstru…
ActionReasoning: Robot Action Reasoning in 3D Space with LLM for Robotic Brick Stacking
Guangming Wang, Qizhen Ying, Yixiong Jing +2
Classical robotic systems typically rely on custom planners designed for constrained environments. While effective in restricted settings, these systems lack generalization capabil…
InfraDiffusion: zero-shot depth map restoration with diffusion models and prompted segmentation from sparse infrastructure point clouds
Yixiong Jing, Cheng Zhang, Haibing Wu +3
Point clouds are widely used for infrastructure monitoring by providing geometric information, where segmentation is required for downstream tasks such as defect detection. Existin…