59 citations · 454 across the 124 of their papers we have counts for
24 papers · 1 filter
MIRROR: Reflecting Hidden Symmetries from Offline Robot Interaction Data
Shiqi Liu, Yihang Yao, Peide Huang +2
Symmetry-aware robot policy learning requires coupled observation-action transformations. For pixel observations, even simple physical symmetries can induce complex, viewpoint-depe…
Controllable and Photorealistic Pedestrian Risky Motion Generation for End-to-End Driving Safety Evaluation
Siyuan Liu, Miao Li, Haibao Yu +4
Evaluating end-to-end autonomous driving under rare, safety-critical vehicle-pedestrian interactions requires photorealistic, sensor-level scenarios. However, trajectory-based scen…
Simple Agentic Memory for Generalist Robot Policies
Yuyou Zhang, Yunbei Zhang, Miao Li +4
Visual-memory systems commonly retain or compress past observations. Robot control additionally requires interaction-derived state that no individual frame may explicitly represent…
KPI: A Promptable Kernel for Physical Interaction on Humanoids
Yikai Wang, Honghao Zhu, Xiao Hu +5
Humanoids now walk, balance and reach with remarkable generality: one whole-body tracking policy follows references from a human, or from an end-to-end policy. That generality trav…
Anticipatory Robot Goalkeeping via Monotone Optimal Stopping
Hao E. Zhang, Ruize Geng, Yisen Li +8
Robots engaged in fast physical interactions often need to act before the intent of another agent is fully known. Anticipatory goalkeeping illustrates this challenge. Waiting provi…
SAGE: Safety-Aligned Gradient Enforcement for Human--Robot Collaboration
Yisen Li, Hao Zhang, Ruize Geng +3
Multi-party human-robot collaboration poses a dual challenge: robot decisions should remain interpretable and auditable, while executed actions must satisfy safety constraints duri…
Dynamics-Induced Commitment in Learning-Based Robotic Penalty Kicks
Ruize Geng, Hao E. Zhang, Yisen Li +3
Learning in robotic games is constrained not only by strategic information but also by what the body can still execute. We study this coupling in a hierarchical humanoid-quadruped…
Decoder Design Matters for ECG Delineation
Joseph Scharpf, William Han, Chaojing Duan +3
Electrocardiogram (ECG) delineation identifies the boundaries of P waves, QRS complexes, and T waves, providing structural annotations that can guide AI models in learning to inter…
GaussianDream++: Efficient 3D Gaussian World Modeling for Robotic Manipulation
Yuqing Jiang, Zijian Zhang, Weitao Zhou +8
Vision-Language-Action (VLA) policies have advanced language-conditioned robotic manipulation, yet action-imitation objectives provide only weak supervision for metric 3D structure…
Learning Generalizable Behaviors for Terminal Agents
Yihang Yao, Bo Pang, Xuan Phi Nguyen +3
Terminal agents are a compelling application of large language models (LLMs), with the potential to integrate deeply into users' daily workflows. Reinforcement learning (RL) is a k…
SoftVTBench: A Deformation-Aware Visuo-Tactile Dataset and Benchmark for Deformable-Object Manipulation
Bowen Jing, Mingxin Wang, Ruiyang Hao +15
Physical interaction quality is central to deformable-object manipulation, yet most benchmarks evaluate task success alone. A policy may complete the task while allowing slip or ca…
SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects (Early Version)
Bowen Jing, Mingxin Wang, Ruiyang Hao +15
Deformable object manipulation poses challenges beyond task completion: successful execution must also maintain safe physical interaction, holding the object stably without slip or…
ART-Glove: Articulated Tactile Glove for Contact-Grounded Dexterous Interaction Capture
Changyi Lin, Ding Zhao
We present ART-Glove, an articulated tactile glove designed to capture contact-grounded dexterous demonstrations while preserving human dexterity. ART-Glove makes hand-side contact…
HiPi: Reproducible High-Fidelity Piezoresistive Sensors for Robotic Manipulation
Changyi Lin, Raihan Haque, Hui-Ping Wang +1
Piezoresistive tactile sensors are attractive for robotic manipulation because they are thin, lightweight, low-cost, and scalable to dense large-area sensing. However, existing sys…
IntentNav: Learning Spatial-Visual Object Navigation from Human Demonstrations
Yuxin Cai, Zongtai Li, Maonan Wang +9
Object navigation requires a robot to search for an unobserved target in an unknown environment by deciding where to explore next under partial observability. Effective search rese…
GaussianDream: A Feed-Forward 3D Gaussian World Model for Robotic Manipulation
Zijian Zhang, Yuqing Jiang, Qian Cheng +6
Vision-language-action (VLA) policies have advanced language-conditioned robotic manipulation by transferring semantic priors from pretrained vision-language models to action gener…
Learning Versatile Humanoid Manipulation with Touch Dreaming
Yaru Niu, Zhenlong Fang, Binghong Chen +8
Humanoid robots promise general-purpose assistance, yet real-world humanoid loco-manipulation remains challenging because it requires whole-body stability, end-effector dexterity,…
Cognition to Control - Multi-Agent Learning for Human-Humanoid Collaborative Transport
Hao Zhang, Ding Zhao, Yisen Li +4
Full-stack human-robot collaboration (HRC) can become brittle when replacing a planner, partner model, coordination policy, or controller changes the physical meaning of cross-laye…
Interaction-Aware Whole-Body Control for Compliant Object Transport
Hao Zhang, Yves Tseng, Ding Zhao +1
Cooperative object transport in unstructured environments remains challenging for assistive humanoids because strong, time-varying interaction forces can make tracking-centric whol…
HALO: Learning Human-Robot Collaboration via Heterogeneous-Agent Lyapunov Policy Optimization
Hao Zhang, Yaru Niu, Yikai Wang +2
To improve generalization and resilience in human-robot collaboration (HRC), robots must contend with diverse combinations of human behaviors and contexts, motivating multi-agent r…
Beyond Explainable AI (XAI): An Overdue Paradigm Shift and Post-XAI Research Directions
Saleh Afroogh, Syed Ishtiaque Ahmed, Petra Ahrweiler +46
This study provides a cross-disciplinary examination of Explainable Artificial Intelligence (XAI) approaches-focusing on deep neural networks (DNNs) and large language models (LLMs…
Pushing Forward Pareto Frontiers of Proactive Agents with Behavioral Agentic Optimization
Yihang Yao, Zhepeng Cen, Haohong Lin +6
Proactive large language model (LLM) agents aim to actively plan, query, and interact over multiple turns, enabling efficient task completion beyond passive instruction following a…
APEX: Learning Adaptive High-Platform Traversal for Humanoid Robots
Yikai Wang, Tingxuan Leng, Changyi Lin +5
Humanoid locomotion has advanced rapidly with deep reinforcement learning (DRL), enabling robust feet-based traversal over uneven terrain. Yet platforms beyond leg length remain la…
ELF: A Family of Encoder-Free ECG-Language Models
William Han, Tony Chen, Chaojing Duan +6
ECG-Language Models (ELMs) extend recent advances in Multimodal Large Language Models (MLLMs) to automated ECG interpretation. However, most existing ELMs inherit Vision-Language M…