8 papers
Shell-Supervised Gaussian Splatting for Urban Real-to-Sim Reconstruction
Yuan Yang, Peijun Lu, Fangzhou Lu +5
Real-to-sim reconstruction for embodied AI requires geometry that is useful for collision reasoning, navigation, and agent-environment interaction, not only photorealistic novel-vi…
TacSE3: Equivariant SE(3) Motion Estimation from Low-Texture Visuotactile Images for In-Gripper Tracking and Compensation
Zhongyuan Liao, Junzhe Wang, Qingyang Liu +6
Robotic in-hand manipulation requires reliable object-motion tracking under frequent visual occlusion, yet low-texture visuotactile images provide few stable correspondences for co…
Provably Safe Trajectory Generation for Manipulators Under Motion and Environmental Uncertainties
Fei Meng, Zijiang Yang, Xinyu Mao +2
Robot manipulators operating in uncertain and non-convex environments present significant challenges for safe and optimal motion planning. Existing methods often struggle to provid…
OpenTie: Open-vocabulary Sequential Rebar Tying System
Sai Fan, Mingze Liu, Haozhen Li +3
Robotic practices on the construction site emerge as an attention-attracting manner owing to their capability of tackling complex challenges, especially in the rebar-involved scena…
Learning-based safety lifting monitoring system for cranes on construction sites
Hao Chen, Yu Hin Ng, Ching-Wei Chang +2
Lifting on construction sites, as a frequent operation, works still with safety risks, especially for modular integrated construction (MiC) lifting due to its large weight and size…
Bird's-eye view safety monitoring for the construction top under the tower crane
Yanke Wang, Yu Hin Ng, Haobo Liang +2
The tower crane is involving more automated and intelligent operation procedure, and importantly, the application of automation technologies to the safety issues is imperative ahea…
Quantitative Hardness Assessment with Vision-based Tactile Sensing for Fruit Classification and Grasping
Zhongyuan Liao, Yipai Du, Jianghua Duan +2
Accurate estimation of fruit hardness is essential for automated classification and handling systems, particularly in determining fruit variety, assessing ripeness, and ensuring pr…
Large-scale Deployment of Vision-based Tactile Sensors on Multi-fingered Grippers
Meng Wang, Wanlin Li, Hao Liang +4
Vision-based Tactile Sensors (VBTSs) show significant promise in that they can leverage image measurements to provide high-spatial-resolution human-like performance. However, curre…