Graph-of-Convex-Sets (GCS)-based trajectory optimization represents collision-free regions in configuration space as a finite collection of convex sets and directly performs collision-free trajectory planning over these sets, substantially simplifying the planning process. However, existing GCS-based trajectory plannin...
Xiao-Kai Zhou, Bao-Shi Cao, Yang Liu et al.· 0 citations
Depth perception of transparent and reflective objects has long been a critical challenge in robotic manipulation. Conventional depth sensors often fail to provide reliable measurements on such surfaces, limiting the performance of robots in perception and grasping tasks. To address this issue, we propose a novel depth...
GeoDistill-Refine is presented, a two-stage framework that transfers offline SAM 3 pseudo-masks to a compact segmentation network and a sample-level gate, computed from prompt agreement, the valid-prompt ratio, and pseudo-mask area plausibility, reduces the influence of unreliable pseudo-geometry.
Yong-Long Zhang, Zong-Wu Xie, Yang Liu· 0 citations
GAP-GDRNet is presented, a geometry-aware RGB framework built on GDR-Net for a single-target synthetic spacecraft benchmark and shows consistent gains over the reproduced baseline on textureless and occluded non-spacecraft objects.
Zongwu Xie, Yonglong Zhang, Yifan Yang et al.· 0 citations
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