From the 1 of 7 linked papers with an AI index.
7 papers
Towards Trustworthy Embodied Intelligence: A Systems Framework and Graded Trustworthiness Levels
Xinyu Yang, Tianxing Chen, Honghao Su +38
The paper proposes a layered systems framework for achieving trustworthy embodied intelligence, defining trustworthiness as sustained safe success and introducing graded trustworth…
TaCauchy: An Extensible FEM Framework for Vision-Based Tactile Simulation
Hengfei Zhao, Yifan Xie, Junhao Gong +6
Vision-based tactile sensors require high-fidelity simulation for reinforcement learning, yet existing approaches struggle to provide accurate mechanical stress fields within GPU-a…
FlexiCup: Wireless Multimodal Suction Cup with Dual-Zone Vision-Tactile Sensing
Junhao Gong, Shoujie Li, Kit-Wa Sou +8
Conventional suction cups lack sensing capabilities for contact-aware manipulation in unstructured environments. This paper presents FlexiCup, a multimodal suction cup with wireles…
SandWorm: Event-based Visuotactile Perception with Active Vibration for Screw-Actuated Robot in Granular Media
Shoujie Li, Changqing Guo, Junhao Gong +3
Perception in granular media remains challenging due to unpredictable particle dynamics. To address this challenge, we present SandWorm, a biomimetic screw-actuated robot augmented…
CEI: A Unified Interface for Cross-Embodiment Visuomotor Policy Learning in 3D Space
Tong Wu, Shoujie Li, Junhao Gong +4
Robotic foundation models trained on large-scale manipulation datasets have shown promise in learning generalist policies, but they often overfit to specific viewpoints, robot arms…
MoiréTac: A Dual-Mode Visuotactile Sensor for Multidimensional Perception Using Moiré Pattern Amplification
Kit-Wa Sou, Junhao Gong, Shoujie Li +4
Visuotactile sensors typically employ sparse marker arrays that limit spatial resolution and lack clear analytical force-to-image relationships. To solve this problem, we present \…