8 papers
Communication-aware Synthesis of Safe Controllers for Discrete-Time Linear Multi-Agent Systems with Distributed k-Hop Observation
Yihan Liu, Teng Yan, Meiqi Tian +1
This paper studies communication-aware safe control for discrete-time linear multi-agent systems under limited information exchange. The main challenge lies in the coupling between…
H-PAC Hand: Control-Oriented Modeling and Tendon-Elasticity Compensation for an Underactuated Robotic Hand
Teng Yan, Jiongxu Chen, Teng Wang +5
Underactuated tendon-driven hands offer compact actuation and passive compliance, but tendon elongation under restoring-spring loading introduces configuration-dependent joint devi…
Bridging Discrete Planning and Continuous Execution for Redundant Robot
Teng Yan, Yue Yu, Yihan Liu +1
Voxel-grid reinforcement learning is widely adopted for path planning in redundant manipulators due to its simplicity and reproducibility. However, direct execution through point-w…
Communication-Aware Synthesis of Safety Controller for Networked Control Systems
Yihan Liu, Meiqi Tian, Teng Yan +1
This paper studies communication-aware safe control for discrete-time linear multi-agent systems under limited information exchange. The main challenge lies in the coupling between…
PHANTOM Hand
Teng Yan, Jiongxu Chen, Qixiang Hua +4
Tendon-driven underactuated hands excel in adaptive grasping but often suffer from kinematic unpredictability and highly non-linear force transmission. This ambiguity limits their…
PiCo: Active Manifold Canonicalization for Robust Robotic Visual Anomaly Detection
Teng Yan, Binkai Liu, Shuai Liu +2
Industrial deployment of robotic visual anomaly detection (VAD) is fundamentally constrained by passive perception under diverse 6-DoF pose configurations and unstable operating co…
Agile-VLA: Few-Shot Industrial Pose Rectification via Implicit Affordance Anchoring
Teng Yan, Zhengyang Pei, Chengyu Shi +8
Deploying Vision-Language-Action (VLA) models on resource-constrained edge platforms encounters a fundamental conflict between high-latency semantic inference and the high-frequenc…
AR2-4FV: Anchored Referring and Re-identification for Long-Term Grounding in Fixed-View Videos
Teng Yan, Yihan Liu, Jiongxu Chen +3
Long-term language-guided referring in fixed-view videos is challenging: the referent may be occluded or leave the scene for long intervals and later re-enter, while framewise refe…