Yinghao Zhao — accepted AI-conference papers

2025

OmniManip: Towards General Robotic Manipulation via Object-Centric Interaction Primitives as Spatial Constraints

Mingjie Pan, Jiyao Zhang, Tianshu Wu, Yinghao Zhao, Wenlong Gao, Hao Dong

CVPR 2025highlight

The development of general robotic systems capable of manipulating in unstructured environments is a significant challenge. While Vision-Language Models(VLM) excel in high-level commonsense reasoning, they lack the fine-grained 3D spatial understanding required for precise manipulation tasks. Fine-…

Cited by 8 Source ↗PDF ↗Scholar ↗

2022

Learning to Fill the Seam by Vision: Sub-millimeter Peg-in-hole on Unseen Shapes in Real World

Liang Xie, Hongxiang Yu, Yinghao Zhao, Haodong Zhang, Zhongxiang Zhou, Minhang Wang +2

ICRA 2022poster

In the peg insertion task, human pays attention to the seam between the peg and the hole and tries to fill it continuously with visual feedback. By imitating the human's behavior, we design architectures with position and orientation estimators based on the seam representation for pose alignment, wh…

Cited by 18 Source ↗code ↗Scholar ↗