4 papers
De-Risking Robotic Welding for In-Space Metal Joining Through Physics-Grounded Digital Twins
Zhou Daniel Hao, Umer Masood Chaudry, Robert Shaw +4
Growing interest in in-space servicing, manufacturing, and assembly has renewed attention on reliable metal joining for modular construction and on-orbit repair. Robotic welding is…
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…