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Active Observation and Visual Servoing
IEEE CASE 2026 · Accepted. Active camera motion and relative visual servoing for grasping under occlusion.
HELIX: Failure Recovery and Experience Memory
Ongoing simulation research. Value assessment, reflex feedback, and experience memory for robot failure recovery.
T-Rex / Sticks: Visuotactile Policy Adaptation
Ongoing research. Robot and policy adaptation for contact-rich manipulation, building on the open-source T-Rex framework.
VR-Loop: Dual-Arm Rope Untangling
Manuscript under review. Iterative visual verification and geometric constraints for reliable dual-arm manipulation.
publications
Active Observation for Robust Visual Servoing in Robotic Manipulation
IEEE International Conference on Automation Science and Engineering (CASE) · Accepted, 2026
Zhilun Hu, Yuqi Cheng, Yuxiang Tan, Wen-pan Li, Weiming Shen. Active camera motion and relative visual servoing for grasping under occlusion. Official program.
Iterative Verify-and-Refine Vision-Language Agent for Reliable Dual-Arm Manipulation
Manuscript · Under review, 2026
Yuqi Cheng, Zhilun Hu, Cheng Jiang, Qingyu Peng, Weiming Shen. VR-Loop combines iterative visual verification and geometric constraints for dual-arm rope untangling.