7 accepted papers
Accurate registration between a prior model and the real scene is essential for high-precision robotic manipulation, yet optical methods suffer from long calibration chains, line-of-sight constraints, and fabrication errors. We propose a calibration-free alternative that reformulates contact registr…
Confidence estimation is essential for the reliable deployment of large language models (LLMs). Existing methods are primarily designed for factual QA tasks and often fail to generalize to reasoning tasks. To address this gap, we propose a set of training-free, graph-based confidence estimation meth
This paper proposes an assembly sequence planning framework, named Subassembly to Assembly (S2A). The framework is designed to enable a robotic manipulator to assemble multiple parts in a prespecified structure by leveraging object manipulation actions. The primary technical challenge lies in the ex
Large language models (LLMs) have been shown to perform well at a variety of syntactic, discourse, and reasoning tasks. While LLMs are increasingly deployed in many forms including conversational agents that interact with humans, we lack a grounded benchmark to measure how well LLMs understand socia…
Embodied language comprehension emphasizes that language understanding is not solely a matter of mental processing in the brain but also involves interactions with the physical and social environment. With the explosive growth of Large Language Models (LLMs) and their already ubiquitous presence in…
Photometric loss is widely used for self-supervised depth and egomotion estimation. However, the loss landscapes induced by photometric differences are often problematic for optimization, caused by plateau landscapes for pixels in texture-less regions or multiple local minima for less discriminative…
Affine registration can fit the non-rigid deformation of slices effectively, and it is widely used in volume reconstruction of biological tissue. But most of the existing affine registration methods are registered in a given sequence, which results in the accumulation of errors. In this paper, a glo…