Many real-world robotic applications require dynamically sensitive manipulation, where success depends not only on reaching a target state but on maintaining stable object dynamics throughout execution. We study the stable transport of liquid-filled containers, where a robot must move objects to target locations while...
Ying-Yue Li, Chenyangguang Zhang, Rui-Da Zhang et al.· IEEE Robotics and Automation...· 0 citations
Sparse voxel reconstruction offers an efficient representation for high-fidelity 3D modeling, yet its geometry is commonly optimized from local photometric evidence and discrete visibility statistics. This often leads to fragmented surfaces, excessive subdivision, and floating artifacts, particularly in weakly textured...
Yan Di, Chengxi Li, Yaoxing Wang et al.· 0 citations
Intermediate representations are key to bridging the modality gap between generalizable manipulation policies and large-scale pretrained vision-language models (VLMs). Among these, trajectory-based representations compactly represent motion-relevant cues, yet most existing approaches predict trajectories in 2D image sp...
Zi-Qin Huang, Ying-Yue Li, Chenyangguang Zhang et al.· 0 citations
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