Author

Xiao Cheng

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Preprint Sep 2026

Runtime Safety Filtering for Two-Terminal Hazards in Robotic Battery Recycling

Runtime safety filters for learned manipulation policies typically define unsafe states as unions of object-wise keep-out regions. This representation can be unnecessarily restrictive for hazards that depend on a joint spatial relation, such as battery recycling, where a conductive payload can short a charged cell only...

Yu-Xin Cao, Wei Song, Xiang-Lin Yang et al. · 0 citations

#artificial intelligence Preprint Sep 2026

Touch2Robot: Robot Touch in the Human Demonstration Loop

Touch2Robot, a framework that lets humans collect demonstrations while seeing how the target robot hand would contact the object, shows that bringing robot touch into the human demonstration loop improves both the quality and efficiency of scalable dexterous data collection.

Sheng-Cheng Luo, Xiao Cheng, Hong Ying et al. · 1 citation