47 citations · 64 across the 15 of their papers we have counts for
16 papers
FeelWorld: Visuo-Tactile World Model for Hierarchical Contact Prediction and Planning
Wenxuan Ma, Chaofan Zhang, Chao Xue +4
Humans plan physical interactions by imagining the possible outcomes of candidate actions. However, existing visual world models primarily capture appearance dynamics while overloo…
CoRe: Combined Rewards with Vision-Language Model Feedback for Preference-Aligned Reinforcement Learning
Hexian Ni, Tao Lu, Yinghao Cai
Reward design remains a central challenge in reinforcement learning (RL). Hand-crafted rewards are often difficult to specify and may lead to suboptimal policies, while learned rew…
FG-CLTP: Fine-Grained Contrastive Language Tactile Pretraining for Robotic Manipulation
Wenxuan Ma, Chaofan Zhang, Yinghao Cai +3
Recent advancements in integrating tactile sensing into vision-language-action (VLA) models have demonstrated transformative potential for robotic perception. However, existing tac…
PEAfowl: Perception-Enhanced Multi-View Vision-Language-Action for Bimanual Manipulation
Qingyu Fan, Zhaoxiang Li, Jinrui Hu +8
Bimanual manipulation in cluttered scenes requires policies that remain stable under occlusions, viewpoint changes and scene variations. Existing vision-language-action models ofte…
MISCGrasp: Leveraging Multiple Integrated Scales and Contrastive Learning for Enhanced Volumetric Grasping
Qingyu Fan, Yinghao Cai, Chao Li +5
Robotic grasping faces challenges in adapting to objects with varying shapes and sizes. In this paper, we introduce MISCGrasp, a volumetric grasping method that integrates multi-sc…
SENIOR: Efficient Query Selection and Preference-Guided Exploration in Preference-based Reinforcement Learning
Hexian Ni, Tao Lu, Haoyuan Hu +2
Preference-based Reinforcement Learning (PbRL) methods provide a solution to avoid reward engineering by learning reward models based on human preferences. However, poor feedback-…
CLTP: Contrastive Language-Tactile Pre-training for 3D Contact Geometry Understanding
Wenxuan Ma, Xiaoge Cao, Yixiang Zhang +7
Recent advancements in integrating tactile sensing with vision-language models (VLMs) have demonstrated remarkable potential for robotic multimodal perception. However, existing ta…
NeuGrasp: Generalizable Neural Surface Reconstruction with Background Priors for Material-Agnostic Object Grasp Detection
Qingyu Fan, Yinghao Cai, Chao Li +5
Robotic grasping in scenes with transparent and specular objects presents great challenges for methods relying on accurate depth information. In this paper, we introduce NeuGrasp,…
Real-Time Marker Localization Learning for GelStereo Tactile Sensing
Shujuan Liu, Shaowei Cui, Chaofan Zhang +2
Visuotactile sensing technology is becoming more popular in tactile sensing, but the effectiveness of the existing marker detection localization methods remains to be further explo…
Learning Symbolic Operators: A Neurosymbolic Solution for Autonomous Disassembly of Electric Vehicle Battery
Yidong Du, Wenshuo Wang, Zhigang Wang +4
The booming of electric vehicles demands efficient battery disassembly for recycling to be environment-friendly. Currently, battery disassembly is still primarily done by humans, p…
ACDER: Augmented Curiosity-Driven Experience Replay
Boyao Li, Tao Lu, Jiayi Li +3
Exploration in environments with sparse feedback remains a challenging research problem in reinforcement learning (RL). When the RL agent explores the environment randomly, it resu…
Sparse and Low-Rank High-Order Tensor Regression via Parallel Proximal Method
Jiaqi Zhang, Yinghao Cai, Zhaoyang Wang +1
Recently, tensor data (or multidimensional array) have been generated in many modern applications, such as functional magnetic resonance imaging (fMRI) in neuroscience and videos i…
Tutorial: Complexity analysis of Singular Value Decomposition and its variants
Xiaocan Li, Shuo Wang, Yinghao Cai
We compared the regular Singular Value Decomposition (SVD), truncated SVD, Krylov method and Randomized PCA, in terms of time and space complexity. It is well-known that Krylov met…
Localizing Discriminative Visual Landmarks for Place Recognition
Zhe Xin, Yinghao Cai, Tao Lu +5
We address the problem of visual place recognition with perceptual changes. The fundamental problem of visual place recognition is generating robust image representations which are…
Hindsight Generative Adversarial Imitation Learning
Naijun Liu, Tao Lu, Yinghao Cai +2
Compared to reinforcement learning, imitation learning (IL) is a powerful paradigm for training agents to learn control policies efficiently from expert demonstrations. However, in…
The Multi-Strand Graph for a PTZ Tracker
Shachaf Melman, Yael Moses, Gérard Medioni +1
High-resolution images can be used to resolve matching ambiguities between trajectory fragments (tracklets), which is one of the main challenges in multiple target tracking. A PTZ…