Yonglong Zhang — Papers on Cortexa

arxivcs.RO2026-07-20

HCPG-Flow:Hierarchical Contact-Progress Guidance for Flow-Policy Robot Manipulation

Guanghu Xie, Mingxu Li, Shuo Zhang, Yonglong Zhang, Yifan Yang, Yang Liu, et al.

Flow policies can represent multimodal action distributions for robot manipulation, yet a robot must execute one action at each control step. When several proposals are sampled, critic-based ranking makes data collection depend on value estimates over candidate actions that may b…

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arxivcs.CVcs.AI2026-07-02

GAP-GDRNet: Geometry-aware monocular 6D pose estimation for spacecraft using synthetic geometric supervision

Zongwu Xie, Yonglong Zhang, Yifan Yang, Yang Liu, Guanghu Xie

Monocular spacecraft 6D pose estimation remains difficult under weak texture, thin structures, illumination variation, and occlusion. This article presents GAP-GDRNet, a geometry-aware RGB framework built on GDR-Net for a single-target synthetic spacecraft benchmark. The method s…

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