Author

Cheng-Xiao He

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Preprint Sep 2026

A Physics-Consistent Benchmark for Contact-Rich Human-Robot Interaction in Assistive Care

Conventional task-level evaluation asks whether a robot policy completes a specified action, but can miss failures that emerge only during physical human contact. This limitation is critical in contact-rich assistive tasks, where meaningful evaluation requires a physically responsive human, interaction-quality assessme...

Cheng-Xiao He, Shang-Hai Yuan, Liuqun Fan et al. · 0 citations

#artificial intelligence Preprint Oct 2026

RAGrasp: Geometry-Semantic Template Retrieval and Grasp Transfer

We present RAGrasp, a retrieval-augmented pipeline for planar parallel-jaw grasping from a compact set of locally collected, grasp-annotated RGB-D (color and depth) templates. Unlike task-specific predictors trained primarily on large public or synthetic grasp datasets, RAGrasp requires no end-to-end retraining for a n...

Shen-Zhe Zhu, Cheng-Xiao He, Jan Harder · 0 citations