8 papers
Spacetime Optimal-Transport Attention for Visuo-Haptic Imitation Learning of Contact-Rich Manipulation
Yue Feng, Weicheng Huang, I-Ming Chen
Contact-rich manipulation tasks such as tight-clearance insertion, connector mating, polishing, and surface-conforming wiping remain difficult for data-driven controllers because t…
Bilateral Teleoperation with Compliant 6-DOF Pose-and-Force Sensing
Yue Feng, Weicheng Huang, I-Ming Chen
Existing bilateral teleoperation platforms still rely on costly rigid six-axis force/torque sensors, tightly coupled leader-follower hardware, and kilohertz control loops. We prese…
Delta6: A Low-Cost, 6-DOF Force-Sensing Flexible End-Effector
Yue Feng, Weicheng Huang, Chen Qiu +2
This paper presents Delta6, a low-cost, six-degree-of-freedom (6-DOF) force/torque end-effector that combines antagonistic springs with magnetic encoders to deliver accurate wrench…
OGScene3D: Incremental Open-Vocabulary 3D Gaussian Scene Graph Mapping for Scene Understanding
Siting Zhu, Ziyun Lu, Guangming Wang +5
Open-vocabulary scene understanding is crucial for robotic applications, enabling robots to comprehend complex 3D environmental contexts and supporting various downstream tasks suc…
DGSLAM: 4D Dynamic Gaussian Splatting SLAM
Siting Zhu, Yuxiang Huang, Wenhua Wu +4
Recent advances in Dense Simultaneous Localization and Mapping (SLAM) have demonstrated remarkable performance in static environments. However, dense SLAM in dynamic environments r…
HGACNet: Hierarchical Graph Attention Network for Cross-Modal Point Cloud Completion
Yadan Zeng, Jiadong Zhou, Xiaohan Li +1
Point cloud completion is essential for robotic perception, object reconstruction and supporting downstream tasks like grasp planning, obstacle avoidance, and manipulation. However…