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cs.RO2026
Hierarchical Object Representation for Spatial Robot Perception: Points, Meshes, and Superquadrics
Ceng Zhang, Wan Su, Mohamed Samshad +2
Hierarchical 3D Scene Graphs (3DSG) have emerged as an actionable and scalable representation for long-term autonomy incorporating metric, semantic, and topological information in…
cs.RO2025
INGRID: Intelligent Generative Robotic Design Using Large Language Models
Guanglu Jia, Ceng Zhang, Gregory S. Chirikjian
The integration of large language models (LLMs) into robotic systems has accelerated progress in embodied artificial intelligence, yet current approaches remain constrained by exis…
cs.RO2024
RAIL: Robot Affordance Imagination with Large Language Models
Ceng Zhang, Xin Meng, Dongchen Qi +1
This paper introduces an automatic affordance reasoning paradigm tailored to minimal semantic inputs, addressing the critical challenges of classifying and manipulating unseen clas…