Han Zhang

Nanjing University

収録論文 29本 ・ フィジカルAI/ロボット学習

※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。

論文

• 意図と軌道の分離：世界行動モデルのための表現演繹フレームワーク
  VLA2026/8/7

  世界行動モデルにおける高レベルの物理状態遷移と低レベルの行動軌道生成の表現が絡み合う問題を解決するため、思考連鎖ガイダンスを統合した表現演繹フレームワークPILOTを提案し、複雑なロボット操作タスクでの成功率と一般化を向上させた。

• Decoupling Intention from Trajectory: A Representational Deduction Framework for World Action Models
  2026/8/1
• Mixture of Frames Policy: Multi-Frame Action Denoising for Bimanual Mobile Manipulation
  2026/7/1
• From Foundation to Application: Improving VLA Models in Practice
  2026/7/1
• CT-VoxelMap: Efficient Continuous-Time LiDAR-Inertial Odometry with Probabilistic Adaptive Voxel Mapping
  2026/4/1
• Open-H-Embodiment: A Large-Scale Dataset for Enabling Foundation Models in Medical Robotics
  2026/4/1
• HoMMI: Learning Whole-Body Mobile Manipulation from Human Demonstrations
  2026/3/1
• U-OBCA: Uncertainty-Aware Optimization-Based Collision Avoidance via Wasserstein Distributionally Robust Chance Constraints
  2026/3/1
• ArrayTac: A Closed-loop Piezoelectric Tactile Platform for Continuously Tunable Rendering of Shape, Stiffness, and Friction
  2026/3/1
• FreeArtGS: Articulated Gaussian Splatting Under Free-moving Scenario
  2026/3/1
• Humanoid Robots as First Assistants in Endoscopic Surgery
  2026/2/1
• Lifelong Scalable Multi-Agent Realistic Testbed and A Comprehensive Study on Design Choices in Lifelong AGV Fleet Management Systems
  2026/2/1
• Masked Depth Modeling for Spatial Perception
  2026/1/1
• Unifying Perception and Action: A Hybrid-Modality Pipeline with Implicit Visual Chain-of-Thought for Robotic Action Generation
  2025/11/1
• TwinOR: Photorealistic Digital Twins of Dynamic Operating Rooms for Embodied AI Research
  2025/11/1
• Design and Koopman Model Predictive Control of A Soft Exoskeleton Based on Origami-Inspired Pneumatic Actuator for Knee Rehabilitation
  2025/10/1
• MetaVLA: Unified Meta Co-training For Efficient Embodied Adaption
  2025/10/1
• Terrain-Awared LiDAR-Inertial Odometry for Legged-Wheel Robots Based on Radial Basis Function Approximation
  2025/9/1
• Registering the 4D Millimeter Wave Radar Point Clouds Via Generalized Method of Moments
  2025/8/1
• The 9th AI City Challenge
  2025/8/1
• A 4D Radar Camera Extrinsic Calibration Tool Based on 3D Uncertainty Perspective N Points
  2025/7/1
• DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation
  2025/5/1
• Optimization-Based Trajectory Planning for Tractor-Trailer Vehicles on Curvy Roads: A Progressively Increasing Sampling Number Method
  2025/5/1
• DOGlove: Dexterous Manipulation with a Low-Cost Open-Source Haptic Force Feedback Glove
  2025/2/1
• StraightTrack: Towards Mixed Reality Navigation System for Percutaneous K-wire Insertion
  2024/10/1
• Towards Robust Surgical Automation via Digital Twin Representations from Foundation Models
  2024/9/1
• 9DTact: A Compact Vision-Based Tactile Sensor for Accurate 3D Shape Reconstruction and Generalizable 6D Force Estimation
  2023/8/1
• ArrayBot: Reinforcement Learning for Generalizable Distributed Manipulation through Touch
  2023/6/1
• Cost Splitting for Multi-Objective Conflict-Based Search
  2022/11/1