7 papers
UPETrack: Unidirectional Position Estimation for Tracking Occluded Deformable Linear Objects
Fan Wu, Chenguang Yang, Haibin Yang +7
Real-time state tracking of Deformable Linear Objects (DLOs) is critical for enabling robotic manipulation of DLOs in industrial assembly, medical procedures, and daily-life applic…
Open-Vocabulary Spatio-Temporal Scene Graph for Robot Perception and Teleoperation Planning
Yi Wang, Zeyu Xue, Mujie Liu +5
Teleoperation via natural-language reduces operator workload and enhances safety in high-risk or remote settings. However, in dynamic remote scenes, transmission latency during bid…
A Fast Method for Planning All Optimal Homotopic Configurations for Tethered Robots and Its Extended Applications
Jinyuan Liu, Minglei Fu, Ling Shi +2
Tethered robots play a pivotal role in specialized environments such as disaster response and underground exploration, where their stable power supply and reliable communication of…
Behavioral Conflict Avoidance Between Humans and Quadruped Robots in Shared Environments
Shuang Wei, Muhua Zhang, Yun Gan +3
Nowadays, robots are increasingly operated in environments shared with humans, where conflicts between human and robot behaviors may compromise safety. This paper presents a proact…
Fine-Grained Alignment in Vision-and-Language Navigation through Bayesian Optimization
Yuhang Song, Mario Gianni, Chenguang Yang +4
This paper addresses the challenge of fine-grained alignment in Vision-and-Language Navigation (VLN) tasks, where robots navigate realistic 3D environments based on natural languag…
Redundant Observer-Based Tracking Control for Object Extraction Using a Cable Connected UAV
Benjamin J. Marshall, Yunda Yan, James Knowles +2
A new disturbance observer based control scheme is developed for a quadrotor under the concurrent disturbances from a lightweight elastic tether cable and a lumped vertical disturb…