7 accepted papers
Integrating Large Language Models (LLMs) into modern robotic systems presents significant computational and energy constraint challenges, particularly for human-centered robotic applications. This paper presents a novel hardware optimization technique for deploying LLMs on resource-constrained embed
Utilizing deep learning techniques for spacecraft pose estimation enables using low-cost sensors like monocular cameras. However, the existing methods have drawbacks, such as complex models or low estimation accuracy. Therefore, this letter proposes the Spacecraft Discrete Pose Estimation Network (S
Reliable pose estimation of non-cooperative spacecraft is a key technology for on-orbit servicing and active space debris removal missions. Currently, deep learning has become the mainstream method for spacecraft pose estimation. However, existing methods suffer from problems such as excessive param
In this paper, we present the TacShade: a newly designed 3D-printed soft optical tactile sensor. The sensor is developed for shape reconstruction under the inspiration of sketch drawing that uses the density of sketch lines to draw light and shadow, resulting in the creation of a 3D-view effect. Tac…
Tactile sensing is significant for robotics since it can obtain physical contact information during manipulation. To capture multimodal contact information within a compact framework, we designed a novel sensor called ViTacTip, which seamlessly integrates both tactile and visual perception capabilit…
Suction adhesion is widely used by natural organisms for gripping irregular objects (e.g., rocks), but their artificial counterparts show less adaptation in the same situation. In addition, they can require complex sensing and control systems to function. In this paper, we present a contact-triggere
It is essential for the robot manipulator to adapt to unexpected events and dynamic environments while executing the physical contact-rich tasks. Although a range of methods have been investigated to enhance the adaptability and generalization capability of robot manipulation, it is still difficult