6 papers indexed
Guanxiong Chen, Qianjun Xia, Jiawei Peng, Heng Zhang, Bole Ma, Justin Qian, et al.
Real-to-sim conversion for robotic interaction with objects remains labor-intensive because it requires more than visual reconstruction: a streamlined real2sim process must recover scene geometries and object states, infer physical parameters, and assemble actors, objects, camera…
Heng Zhang, Gehan Zheng, Kaifeng Zhang, Jay Song, Shivansh Patel, Sonny Hu, et al.
Digital twins enable robots to anticipate and adapt to physical interactions, but existing models struggle with elastoplastic articulated objects (EAOs) that exhibit nonlinear elasticity, plastic yielding, and damage accumulation. We present BoxTwin, an interactive digital twin f…
Zhiyang Dou, John U. Onyemelukwe, Hangxing Zhang, Heng Zhang, Minghao Guo, Yunsheng Tian, et al.
Differentiable simulators have advanced policy learning and model-based control across robotic tasks. Yet actuator dynamics remain underexplored and can be a major source of sim-to-real error, particularly on low-cost platforms, where the linear current-to-joint-torque approximat…
Qi Liu, Yabei Li, Hongsong Wang, Heng Zhang, Lei He
Autonomous driving planning requires translating navigation intent, traffic rules, dynamic interactions, and language instructions into executable continuous trajectories. Vision-Language-Action models have been introduced into driving planning to improve long-tail generalization…
Jiajun Wu, Haoyu Kang, Yining Sun, Jiacheng Hou, Heng Zhang, Danyang Zhang, et al.
Large vision-language models (LVLMs) have recently shown immense potential in automated content moderation, sparking growing interest in developing harmful-video benchmarks. However, we identify two primary limitations in existing works: 1) The multi-layered characteristics of ha…
Heng Zhang, Manwen Liao, Liangxi He, Chi-Kwan Lee
Wireless power transfer (WPT) has become a crucial feature in numerous electronic devices, electric appliances, and electric vehicles. However, traditional design methods for WPT suffer from numerous drawbacks, such as time-consuming computations and high error counts due to inac…