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Sponsored AI Networking Cookbook: Practical recipes for AI-assisted network automation and development AI Networking Cookbook: Practical recipes for AI-assisted network automation and development

Author

Feng Han

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#diffusion models Dec 2026

3D Gaussian Digital Twins for View-Robust 3D Visuomotor Policy Learning on Articulated Objects

Single-view 3D visuomotor policies based on point-cloud observations, such as 3D Diffusion Policy, often suffer from limited viewpoint generalization due to partial observability and occlusion. This is particularly challenging for articulated objects whose internal motion induces geometry changes. To address this probl...

Xin-Yu Liu, Yu-Zhi Zhang, Yu Zhang et al. · 0 citations
Preprint Oct 2026

Tactile Sensing-based Secure and Gentle Grasping of Unknown Objects

Reliable robotic manipulation requires maintaining a firm grasp while strictly avoiding both contact slip and structural damage to the object. Satisfying these inherent \textit{secure-and-gentle} grasping constraints is challenging for unknown objects. We present a novel online data-driven predictive control framework...

Feng Han · 0 citations
Preprint Sep 2026

Imagine then Verify: Affordance-Targeted Active Perception for Task-Oriented Grasping in Cluttered Scenes

Task-oriented grasping (TOG) requires robots to grasp functional parts of objects (e.g., the handle of a mug for pouring), yet these affordance regions are frequently occluded in cluttered scenes. Active perception via next-best-view (NBV) planning can resolve such occlusions by moving the camera for more informative o...

Jing-Zhi Cui, Xuefeng Liu, Feng Han et al. · 0 citations

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