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cs.CV2026
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…
cs.RO2026
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…
cs.RO2026
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…