7 papers
NeuroSymActive: Differentiable Neural-Symbolic Reasoning with Active Exploration for Knowledge Graph Question Answering
Rong Fu, Yang Li, Zeyu Zhang +7
Large pretrained language models and neural reasoning systems have advanced many natural language tasks, yet they remain challenged by knowledge-intensive queries that require prec…
A Low-Cost Vision-Based Tactile Gripper with Pretraining Learning for Contact-Rich Manipulation
Yaohua Liu, Binkai Ou, Zicheng Qiu +2
Robotic manipulation in contact-rich environments remains challenging, particularly when relying on conventional tactile sensors that suffer from limited sensing range, reliability…
CoFreeVLA: Collision-Free Dual-Arm Manipulation via Vision-Language-Action Model and Risk Estimation
Xuanran Zhai, Binkai Ou, Qiaojun Yu +2
Vision Language Action (VLA) models enable instruction following manipulation, yet dualarm deployment remains unsafe due to under modeled selfcollisions between arms and grasped ob…
Spiking Neural-Invariant Kalman Fusion for Accurate Localization Using Low-Cost IMUs
Yaohua Liu, Qiao Xu, Binkai Ou
Low-cost inertial measurement units (IMUs) are widely utilized in mobile robot localization due to their affordability and ease of integration. However, their complex, nonlinear, a…
Abstracting Robot Manipulation Skills via Mixture-of-Experts Diffusion Policies
Ce Hao, Xuanran Zhai, Yaohua Liu +1
Diffusion-based policies have recently shown strong results in robot manipulation, but their extension to multi-task scenarios is hindered by the high cost of scaling model size an…
A brain-inspired information fusion method for enhancing robot GPS outages navigation
Yaohua Liu, Hengjun Zhang, Binkai Ou
Low-cost inertial navigation systems (INS) are prone to sensor biases and measurement noise, which lead to rapid degradation of navigation accuracy during global positioning system…