134 citations · 725 across the 66 of their papers we have counts for
7 papers · 2 filters
Who Went Where When on the Lunar Surface: Forensic Trajectory Analysis to Identify Byzantine Rovers
Lachlan Holden, Feras Dayoub, Melissa de Zwart +2
Future planetary surface missions are likely to involve multiple independently operated rovers sharing the same deployment region, raising the need to verify compliance with operat…
ProTracer: Proprioception-Guided Failure Diagnosis in Robot Manipulation
Chang Dong, Mehdi Hosseinzadeh, King Hang Wong +5
This paper presents a comprehensive framework for robot manipulation failure analysis that includes binary failure detection, failure categorization, explanation generation, and th…
4D-WAM: Infusing Spatiotemporal Awareness into World Action Models through Trajectory Fields
Lishan Yang, Wenxuan Song, Xi Wang +14
Building on recent advances in world models, World Action Models (WAMs) jointly model video prediction and action generation. However, they typically represent videos in 2D pixel s…
Beyond Implicit Force: Evaluating Explicit Force-Torque Proxies in Action Chunking with Transformers
King Hang Wong, Lingqiao Liu, Feras Dayoub
Contact-rich manipulation requires policies to infer interaction state from signals that are often weakly observable through vision and kinematics alone. Action Chunking with Trans…
A Physical Agentic Loop for Language-Guided Grasping with Execution-State Monitoring
Wenze Wang, Mehdi Hosseinzadeh, Feras Dayoub
Robotic manipulation systems that follow language instructions often execute grasp primitives in a largely single-shot manner: a model proposes an action, the robot executes it, an…
KITE: Keyframe-Indexed Tokenized Evidence for VLM-Based Robot Failure Analysis
Mehdi Hosseinzadeh, King Hang Wong, Feras Dayoub
We present KITE, a training-free, keyframe-anchored, layout-grounded front-end that converts long robot-execution videos into compact, interpretable tokenized evidence for vision-l…
Predictive and adaptive maps for long-term visual navigation in changing environments
Lucie Halodova, Eliska Dvorakova, Filip Majer +4
In this paper, we compare different map management techniques for long-term visual navigation in changing environments. In this scenario, the navigation system needs to continuousl…