Author

Xiao Cheng

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Preprint Sep 2026

Runtime Safety Filtering for Two-Terminal Hazards in Robotic Battery Recycling

Runtime safety filters for learned manipulation policies typically define unsafe states as unions of object-wise keep-out regions. This representation can be unnecessarily restrictive for hazards that depend on a joint spatial relation, such as battery recycling, where a conductive payload can short a charged cell only...

Yu-Xin Cao, Wei Song, Xiang-Lin Yang et al. · 0 citations

#artificial intelligence Preprint Sep 2026

Touch2Robot: Robot Touch in the Human Demonstration Loop

Human demonstrations offer a scalable way to collect manipulation data, but their contacts may be unstable or infeasible when transferred to a robot hand. Collecting demonstrations directly on the target robot avoids this mismatch but substantially increases the cost of data collection. To address this trade-off, we pr...

Sheng-Cheng Luo, Xiao Cheng, Hong Ying et al. · 1 citation