7 papers
WCM: World-Cognition Model for Generalizable Human-Robot Interaction
Yuzhen Chen, KC Zhou
Language agents can now interact fluently with users in software, but robots still struggle to bring comparable interaction to physical tasks. Current robot-control paradigms, incl…
GEM-4D: Geometry-Enhanced Video World Models for Robot Manipulation
Kaichen Zhou, Yuzhen Chen, Fangneng Zhan +8
Video world models can generate realistic futures from a single instruction, but they often fail to track the same physical points consistently across time. As a result, the genera…
LMG Index: A Robust and Efficient Learned Index Framework for Multi-Dimensional Performance Balance
Yuzhen Chen, Bin Yao
Index structures are fundamental for efficient query processing on large-scale datasets. Learned indexes model the indexing process as a prediction problem to overcome the inherent…
SLIM-VDB: A Real-Time 3D Probabilistic Semantic Mapping Framework
Anja Sheppard, Parker Ewen, Joey Wilson +6
This paper introduces SLIM-VDB, a new lightweight semantic mapping system with probabilistic semantic fusion for closed-set or open-set dictionaries. Advances in data structures fr…
MatPredict: a dataset and benchmark for learning material properties of diverse indoor objects
Yuzhen Chen, Hojun Son, Arpan Kusari
Determining material properties from camera images can expand the ability to identify complex objects in indoor environments, which is valuable for consumer robotics applications.…
DEFT: Differentiable Branched Discrete Elastic Rods for Modeling Furcated DLOs in Real-Time
Yizhou Chen, Xiaoyue Wu, Yeheng Zong +4
Autonomous wire harness assembly requires robots to manipulate complex branched cables with high precision and reliability. A key challenge in automating this process is predicting…