4 papers
SurgLAT: Surgical Latent Attention Tracking for Depth-Aware Robotic Laparoscope Control
Rulin Zhou, Qiujie Song, Yujie Ma +10
Autonomous laparoscopic camera control requires continuous understanding of the surgeon's operative intent in dynamic surgical scenes, where the target operative region is not a st…
Simultaneous Contact Selection and Planning for Contact-Rich Manipulation with Cascaded Optimization
Zhe Zhang, Xingrong Diao, Haoxiang Liang +4
We propose an optimization-based framework for robust contact-rich manipulation. Recent contact-implicit methods enable online hybrid planning across contact modes, allowing closed…
Socially Aware Robot Crowd Navigation via Online Uncertainty-Driven Risk Adaptation
Zhirui Sun, Xingrong Diao, Yao Wang +2
Navigation in human-robot shared crowded environments remains challenging, as robots are expected to move efficiently while respecting human motion conventions. However, many exist…
LSTP-Nav: Lightweight Spatiotemporal Policy for Map-free Multi-agent Navigation with LiDAR
Xingrong Diao, Zhirui Sun, Jianwei Peng +1
Safe and efficient multi-agent navigation in dynamic environments remains inherently challenging, particularly when real-time decision-making is required on resource-constrained pl…