4 papers
Semantic Map Sharing and Capability-Aware Coverage Planning for AI-Native 6G Robotic Coordination
Abdulqader Dhafer, Qi Wang, Zhou Daniel Hao
Search and Rescue (SAR) operations increasingly deploy heterogeneous teams of aerial and ground robots. However, conventional coverage methods typically do not translate perceived…
R2HandoverSim: A Simulation Framework and Benchmark for Robot-to-Human Object Handovers
Hanxin Zhang, Abdulqader Dhafer, Hongbiao Dong +1
We present R2HandoverSim, a simulation benchmark for robot-to-human (R2H) object handovers. Although R2H handover methods have advanced rapidly, the lack of standardized evaluation…
Embodied Interpretability: Linking Causal Understanding to Generalization in Vision-Language-Action Models
Hanxin Zhang, Mingshuo Xu, Abdulqader Dhafer +3
Vision-Language-Action (VLA) policies often fail under distribution shift, suggesting that decisions may depend on spurious visual correlations rather than task-relevant causes. We…
Intent-Handover: Grounding Language in Human-Usage Regions for Trustworthy Robot-to-Human Handovers
Hanxin Zhang, Abdulqader Dhafer, Hongbiao Dong +1
Spoken instructions in robot-to-human handovers may specify either an object ("the cup") or an intended use ("pour water"); in both cases, successful handover requires the robot to…