4 papers
CAD-Prompted SAM3: Geometry-Conditioned Instance Segmentation for Industrial Objects
Zhenran Tang, Rohan Nagabhirava, Changliu Liu
Verbal-prompted segmentation is inherently limited by the expressiveness of natural language and struggles with uncommon, instance-specific, or difficult-to-describe objects: scena…
BrickCraft: Visuomotor Skill Composition with Situated Manual Guidance for Long-Horizon Interlocking Brick Assembly
Jichuan Yu, Bowei Li, Zhenran Tang +4
Autonomous robotic assembly of interlocking bricks demands seamless integration of long-horizon task reasoning, spatial grounding, and fine-grained manipulation. This paper present…
NeSyPack: A Neuro-Symbolic Framework for Bimanual Logistics Packing
Bowei Li, Peiqi Yu, Zhenran Tang +4
This paper presents NeSyPack, a neuro-symbolic framework for bimanual logistics packing. NeSyPack combines data-driven models and symbolic reasoning to build an explainable hierarc…
Eye-in-Finger: Smart Fingers for Delicate Assembly and Disassembly of LEGO
Zhenran Tang, Ruixuan Liu, Changliu Liu
Manipulation and insertion of small and tight-toleranced objects in robotic assembly remain a critical challenge for vision-based robotics systems due to the required precision and…