Yujie Zhang

Design of a Digital Twin System for Multi-stage Robotic Assembly with Trajectory Optimization

Mingrui Gao, Yujie Zhang, Ruifang Shi, Xiangqiang Zhong

Move First, Commit Later: Selective LiDAR-to-BIM Global Initialization via Sequential Consensus with Symmetry-Aware Abstention

Yujie Zhang, Yuxuan Guo, Jiashuo Zheng, Zeheng Fan, Xiaohui Jia, Jinyue Liu

Global LiDAR-to-BIM initialization must place a robot within an as-designed building model without a prior pose. In repetitive interiors, the principal failure mode is not low-confidence registration but confident aliasing: a submap can match several BIM regions with comparable s…Read more

Evidence-Grounded AI for Musculoskeletal Care

Wenjie Li, Yujie Zhang, Fanrui Zhang, Haoran Sun, Renhao Yang, Junjun He, et al.

Musculoskeletal diseases are among the leading causes of disability and drive the greatest global need for rehabilitation. Because recovery, remodelling and degeneration of bones, joints and related tissues unfold over months to years, care requires longitudinal management rather…Read more

XS-VLA: Coupling Coarse-grained Spatial Distillation with Latent Flow Matching for Lightweight Robotic Control

Lei Iok Tong, Qingchen Xie, Wei Huang, Ying Jie Yap, Yujie Zhang, Qianzhi Li, et al.

Large Vision-Language Models (LVLMs) have shown strong multimodal understanding and spatial grounding, but their computational cost limits real-time robotic control. In contrast, lightweight models are suitable for edge deployment but often suffer from "spatial blindness", namely…Read more

ACE: Agentic Control for Embodied Manipulation via Zero-shot Workflow Reasoning

Iok Tong Lei, QianZhi Li, Ying Jie Yap, Yujie Zhang, Rui Zhong, Haichao Gui, et al.

Open-ended tabletop manipulation requires agents to not only understand natural language but also adapt to dynamic environments and execution failures. We present ACE (Agentic Control for Embodied Manipulation), a zero-shot workflow reasoning framework for tabletop pick-and-place…Read more