10 papers
T-WLA: Bridging Slow Vision and Fast Touch
Kaichen Zhou, Yuzhen Chen, Hannah Yao +14
In contact-rich manipulation, contact conditions can change before a visual policy updates its action plan. Recomputing the plan through the visual policy adds latency, while tacti…
Matisse: Evidence-Space Reasoning for Active 3D Reconstruction
Xihang Yu, Kaichen Zhou, Lorenzo Shaikewitz +4
How can a 3D reconstruction system acquire and retain useful information to understand the geometry of a scene from partial views under a limited computation budget? Existing activ…
Hydra++: Real-Time Hierarchical 3D Scene Graph Construction With Object-Level Shape Estimation
Hyungtae Lim, Nathan Hughes, Xihang Yu +5
3D scene graphs provide a hierarchical abstraction of environments by encoding spatial entities, such as objects and places, and their relationships. However, existing scene graph…
UniTac: A Unified Multimodal Model for Cross-Sensor Tactile Understanding and Generation
Jiahang Tu, Fengyu Yang, Chenyang Ma +8
Unified multimodal models (UMMs) have shown great promise in integrating understanding and generation across diverse modalities. However, existing research rarely extends this para…
Picasso: Holistic Scene Reconstruction with Physics-Constrained Sampling
Xihang Yu, Rajat Talak, Lorenzo Shaikewitz +1
In the presence of occlusions and measurement noise, geometrically accurate scene reconstructions -- which fit the sensor data -- can still be physically incorrect. For instance, w…
Box Pose and Shape Estimation and Domain Adaptation for Large-Scale Warehouse Automation
Xihang Yu, Rajat Talak, Jingnan Shi +3
Modern warehouse automation systems rely on fleets of intelligent robots that generate vast amounts of data -- most of which remains unannotated. This paper develops a self-supervi…
A Generalized Metriplectic System via Free Energy and System~Identification via Bilevel Convex Optimization
Sangli Teng, Kaito Iwasaki, William Clark +4
This work generalizes the classical metriplectic formalism to model Hamiltonian systems with nonconservative dissipation. Classical metriplectic representations allow for the descr…
APISR: Anime Production Inspired Real-World Anime Super-Resolution
Boyang Wang, Fengyu Yang, Xihang Yu +2
While real-world anime super-resolution (SR) has gained increasing attention in the SR community, existing methods still adopt techniques from the photorealistic domain. In this pa…
SIM-Sync: From Certifiably Optimal Synchronization over the 3D Similarity Group to Scene Reconstruction with Learned Depth
Xihang Yu, Heng Yang
This paper presents SIM-Sync, a certifiably optimal algorithm that estimates camera trajectory and 3D scene structure directly from multiview image keypoints. SIM-Sync fills the ga…
Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer
Xihang Yu, Sangli Teng, Theodor Chakhachiro +7
This paper develops a novel slip estimator using the invariant observer design theory and Disturbance Observer (DOB). The proposed state estimator for mobile robots is fully propri…