1 citations · 1 across the 3 of their papers we have counts for
5 papers
TacGELLO: Tactile Contact Feedback for a 3D-Printed Teleoperation Leader
Younsoo Kim, Sangmin Song, Sarath Kodagoda +2
Passive leader arms transmit an operator's motion without returning remote contact or load cues. TacGELLO uses the existing servos of a 3D-printed leader for tactile contact feedba…
VOIM: Training-Free Open-Vocabulary 3D Instance Mapping for RGB-D and Monocular SLAM
Sangmin Song, Sarath Kodagoda, Marc G. Carmichael +4
We present Voxel-Grounded Online Instance Manager (VOIM), a training-free voxel-grounded instance manager that builds open-vocabulary 3D instance maps from RGB-D or from monocular…
Overcoming Visual Clutter in Vision Language Action Models via Concept-Gated Visual Distillation
Sangmim Song, Sarath Kodagoda, Marc Carmichael +1
Vision-Language-Action (VLA) models demonstrate impressive zero-shot generalization but frequently suffer from a "Precision-Reasoning Gap" in cluttered environments. This failure i…
Two Heads Are Better Than One: Collaborative LLM Embodied Agents for Human-Robot Interaction
Mitchell Rosser, Marc. G Carmichael
With the recent development of natural language generation models - termed as large language models (LLMs) - a potential use case has opened up to improve the way that humans inter…
Guide-LLM: An Embodied LLM Agent and Text-Based Topological Map for Robotic Guidance of People with Visual Impairments
Sangmim Song, Sarath Kodagoda, Amal Gunatilake +3
Navigation presents a significant challenge for persons with visual impairments (PVI). While traditional aids such as white canes and guide dogs are invaluable, they fall short in…