Yu-Teng Sun

DA-GRD: Decision-Aware Grasp-Relevant Disambiguation for tactile recovery under perception-to-execution mismatches

Grasping is a fundamental robotic capability that bridges perception and physical task execution. This paper studies grasp pose recovery under a perception-to-execution mismatch, where a grasp generated from visual perception may become spatially stale if the object moves before execution, using only sparse tactile int...