Author

Yuki Uranishi

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Preprint Oct 2026

OptimusMesh: Compact Autoregressive Mesh Generation from Point Clouds via Sparse Latent Pivots

Generating compact and geometrically faithful 3D meshes directly from point clouds remains a fundamental challenge. Point clouds are unordered and sparse, whereas meshes exhibit irregular structure and varying topology. As a result, many existing approaches rely on implicit representations followed by surface extractio...

M. Iqbal, Xuan-Meng Sha, Naoya Chiba et al. · 0 citations

Preprint Sep 2026

MR-GLi: Mixed Reality-Based Gripper-Linked Overlays for Underwater Robot Arm Teleoperation via Bilateral Control

Visual torque feedback supports underwater bilateral teleoperation, but the benefit of mixed reality (MR) over conventional monitor presentation remains unclear. We present MR-GLi, an MR interface that spatially registers a reaction torque indicator and wrist-camera image to the robot gripper. Twenty participants perfo...

Masashi Sasago, M. Kobayashi, Yuki Uranishi · 0 citations

Preprint Sep 2026

Bi-MoDe: Bilateral Control-based Imitation Learning via Modifier-Conditioned Decoding for Modulation of Execution Speed and Contact Intensity

Bi-MoDe is proposed, a modifier-conditioned decoding framework that injects a constrained latent into every layer of the Transformer action decoder via adaLN-Zero, allowing behavioral directives to directly influence action-chunk generation.

Takumi Kobayashi, M. Kobayashi, Yuki Uranishi · 0 citations