28 citations · 69 across the 7 of their papers we have counts for
8 papers
Instruction-Conditioned Motion Control for Robotic Arms: Language-to-Code Decomposition and Reinforcement Learning
Fan Huang, Dezhong Tong, Changyu Chen +2
Instruction-Conditioned Motion Control (ICMC) separates parameter specification, instruction generation, and code synthesis for language-driven robot control, making execution outc…
Highly Deformable Proprioceptive Membrane for Real-Time 3D Shape Reconstruction
Guanyu Xu, Jiaqi Wang, Dezhong Tong +1
Reconstructing the three-dimensional (3D) geometry of object surfaces is essential for robot perception, yet vision-based approaches degrade under low illumination or occlusion. Th…
Rapidly Learning Soft Robot Control via Implicit Time-Stepping
Andrew Choi, Dezhong Tong, Xiaonan Huang
With the explosive growth of rigid-body simulators, policy learning in simulation has become the de facto standard for most rigid morphologies. In contrast, soft robotic simulation…
Sim2Real Neural Controllers for Physics-based Robotic Deployment of Deformable Linear Objects
Dezhong Tong, Andrew Choi, Longhui Qin +3
Deformable linear objects (DLOs), such as rods, cables, and ropes, play important roles in daily life. However, manipulation of DLOs is challenging as large geometrically nonlinear…
mBEST: Realtime Deformable Linear Object Detection Through Minimal Bending Energy Skeleton Pixel Traversals
Andrew Choi, Dezhong Tong, Brian Park +3
Robotic manipulation of deformable materials is a challenging task that often requires realtime visual feedback. This is especially true for deformable linear objects (DLOs) or "ro…
Learning Neural Force Manifolds for Sim2Real Robotic Symmetrical Paper Folding
Andrew Choi, Dezhong Tong, Demetri Terzopoulos +2
Robotic manipulation of slender objects is challenging, especially when the induced deformations are large and nonlinear. Traditionally, learning-based control approaches, such as…
A Fully Implicit Method for Robust Frictional Contact Handling in Elastic Rods
Dezhong Tong, Andrew Choi, Jungseock Joo +1
Accurate frictional contact is critical in simulating the assembly of rod-like structures in the practical world, such as knots, hairs, flagella, and more. Due to their high geomet…
Automated stability testing of elastic rods with helical centerlines using a robotic system
Dezhong Tong, Andy Borum, M. Khalid Jawed
Experimental analysis of the mechanics of a deformable object, and particularly its stability, requires repetitive testing and, depending on the complexity of the object's shape, a…