Author

Brian Sheil

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Preprint Sep 2026

Track2Art: Articulated Object Model Recovery with Visual-Geometric Track Representations

Understanding articulated objects is fundamental for robotic interaction, requiring accurate rigid-part discovery and the recovery of their kinematic relations. Existing approaches often treat articulation as a by-product of reconstructed geometry or recover it through per-instance optimization. We instead build on the...

Xiao-Tong Li, Yi-Xiong Jing, Jun-Sheng Ding et al. · 0 citations

Preprint Sep 2026

A Brain-inspired Hierarchical Framework for Zero-Shot Robot Task Reasoning and Execution

Robots that follow open-ended language instructions need to connect semantic intent to visual scene understanding, geometric feasibility, object states, and physical interaction conditions. End-to-end Vision-Language-Action policies have improved cross-task generalization, but they typically map visual and language inp...

Guang-Ming Wang, Peng-Fei Ye, Qi-Zhen Ying et al. · 0 citations

Preprint Aug 2026

BendTwin: Robust Dense-to-Sparse Physical Reconstruction with Bending-Aware Differentiable Spring-Mass Models

Reconstructing objects with mechanical properties from video observations enables physically consistent dynamic prediction, benefiting robotics planning and interaction. Existing spring--mass based physical driven reconstruction approaches offer efficient and differentiable physical reconstruction, but they typically r...

Yi-Xiong Jing, Qi Wang, Lin Chen et al. · 0 citations