arXiv subjects

Chenyang Shi

Publications and source records attributed to Chenyang Shi.

11 recordsLinked to original sources

arXiv2026

ActiveGlasses: Learning Manipulation with Active Vision from Ego-centric Human Demonstration

Large-scale real-world robot data collection is a prerequisite for bringing robots into everyday deployment. However, existing pipelines often rely on specialized handheld devices to bridge the embodiment gap, which not only increases operator burden and limits scalability, but also makes it difficult to capture the naturally coordinated perception-manipulation behaviors of human daily interaction. This challenge calls for a more natural system that can faithfully capture human manipulation and perception behaviors while enabling zero-shot transfer to robotic platforms. We introduce ActiveGlasses, a system for learning robot manipulation from ego-centric human demonstrations with active vision. A stereo camera mounted on smart glasses serves as the sole perception device for both data collection and policy inference: the operator wears it during bare-hand demonstrations, and the same camera is mounted on a 6-DoF perception arm during deployment to reproduce human active vision. To enable zero-transfer, we extract object trajectories from demonstrations and use an object-centric point-cloud policy to jointly predict manipulation and head movement. Across several challenging tasks involving occlusion and precise interaction, ActiveGlasses achieves zero-shot transfer with active vision, consistently outperforms strong baselines under the same hardware setup, and generalizes across two robot platforms.

cs.RO↗

arXiv2025

U-ARM : Ultra low-cost general teleoperation interface for robot manipulation

We propose U-Arm, a low-cost and rapidly adaptable leader-follower teleoperation framework designed to interface with most of commercially available robotic arms. Our system supports teleoperation through three structurally distinct 3D-printed leader arms that share consistent control logic, enabling seamless compatibility with diverse commercial robot configurations. Compared with previous open-source leader-follower interfaces, we further optimized both the mechanical design and servo selection, achieving a bill of materials (BOM) cost of only \$50.5 for the 6-DoF leader arm and \$56.8 for the 7-DoF version. To enhance usability, we mitigate the common challenge in controlling redundant degrees of freedom by %engineering methods mechanical and control optimizations. Experimental results demonstrate that U-Arm achieves 39\% higher data collection efficiency and comparable task success rates across multiple manipulation scenarios compared with Joycon, another low-cost teleoperation interface. We have open-sourced all CAD models of three configs and also provided simulation support for validating teleoperation workflows. We also open-sourced real-world manipulation data collected with U-Arm. The project website is https://github.com/MINT-SJTU/LeRobot-Anything-U-Arm.

cs.RO↗

arXiv2025

EGS-SLAM: RGB-D Gaussian Splatting SLAM with Events

Gaussian Splatting SLAM (GS-SLAM) offers a notable improvement over traditional SLAM methods, enabling photorealistic 3D reconstruction that conventional approaches often struggle to achieve. However, existing GS-SLAM systems perform poorly under persistent and severe motion blur commonly encountered in real-world scenarios, leading to significantly degraded tracking accuracy and compromised 3D reconstruction quality. To address this limitation, we propose EGS-SLAM, a novel GS-SLAM framework that fuses event data with RGB-D inputs to simultaneously reduce motion blur in images and compensate for the sparse and discrete nature of event streams, enabling robust tracking and high-fidelity 3D Gaussian Splatting reconstruction. Specifically, our system explicitly models the camera's continuous trajectory during exposure, supporting event- and blur-aware tracking and mapping on a unified 3D Gaussian Splatting scene. Furthermore, we introduce a learnable camera response function to align the dynamic ranges of events and images, along with a no-event loss to suppress ringing artifacts during reconstruction. We validate our approach on a new dataset comprising synthetic and real-world sequences with significant motion blur. Extensive experimental results demonstrate that EGS-SLAM consistently outperforms existing GS-SLAM systems in both trajectory accuracy and photorealistic 3D Gaussian Splatting reconstruction. The source code will be available at https://github.com/Chensiyu00/EGS-SLAM.

cs.RO↗

arXiv2025

Label-Free Long-Horizon 3D UAV Trajectory Prediction via Motion-Aligned RGB and Event Cues

The widespread use of consumer drones has introduced serious challenges for airspace security and public safety. Their high agility and unpredictable motion make drones difficult to track and intercept. While existing methods focus on detecting current positions, many counter-drone strategies rely on forecasting future trajectories and thus require more than reactive detection to be effective. To address this critical gap, we propose an unsupervised vision-based method for predicting the three-dimensional trajectories of drones. Our approach first uses an unsupervised technique to extract drone trajectories from raw LiDAR point clouds, then aligns these trajectories with camera images through motion consistency to generate reliable pseudo-labels. We then combine kinematic estimation with a visual Mamba neural network in a self-supervised manner to predict future drone trajectories. We evaluate our method on the challenging MMAUD dataset, including the V2 sequences that feature wide-field-of-view multimodal sensors and dynamic UAV motion in urban scenes. Extensive experiments show that our framework outperforms supervised image-only and audio-visual baselines in long-horizon trajectory prediction, reducing 5-second 3D error by around 40 percent without using any manual 3D labels. The proposed system offers a cost-effective, scalable alternative for real-time counter-drone deployment. All code will be released upon acceptance to support reproducible research in the robotics community.

cs.RO↗

arXiv2025

Achieving electrode smoothing by controlling the nucleation phase of metal deposition through polymer-substrate binding

Polymer additives [like polyethylene oxide (PEO)] are widely used for smooth electrode deposition in aqueous zinc and a number of other battery systems currently investigated for energy storage applications. However, the precise mechanism by which they regulate morphology and suppress dendrite formation remains unclear. In this study, we address this knowledge gap by using in-situ electrochemical atomic force microscopy (EC-AFM) to directly observe the interfacial evolution during Zn electrodeposition and polymer adsorption on copper (Cu) substrates in the presence of varying concentrations of ZnSO4 and PEO. Contrary to previous literature assumptions which emphasize the binding to the growing Zn crystal surfaces or Zn2+ ions, our results demonstrate that PEO smooths Zn films by promoting nucleation of (002)-oriented Zn platelets through interactions with the Cu substrate. Density functional theory (DFT) simulations support this finding by showing that PEO adsorption on Cu modifies the interfacial energy of Zn/Cu/electrolyte interfaces, favoring the stabilization of Zn (002) on the Cu substrate, as well as confines Zn electrodeposition to a narrow near-surface region. These findings elucidate a novel design principle for electrode smoothing, emphasizing the importance of substrate selection paired with polymer additives that exhibit an attractive interaction with the substrate, but minimal interaction with growing crystals, offering a mechanistic perspective for improved battery performance.

cond-mat.mtrl-sci↗

arXiv2024

Further analysis of weighted integral inequalities for improved exponential stability analysis of time delay neural networks systems

This work investigates the exponential stability of neural networks (NNs) systems with time delays. By considering orthogonal polynomials with weighted terms, a new weighted integral inequality is presented. This inequality extend several recently established results. Additionally, based on the reciprocally convex inequality, this study focuses on analyzing the exponential stability of systems with time-varying delays that include an exponential decay factor, a weighted version of the reciprocally convex inequality is first derived. Utilizing these inequalities and the suitable Lyapunov-Krasovskii functionals (LKFs) within the framework of linear matrix inequalities (LMIs), the new criteria for the exponential stability of NNs system is obtained. The effectiveness of the proposed method is demonstrated through multiple numerical examples.

math.FA↗

arXiv2024

A Label-Free and Non-Monotonic Metric for Evaluating Denoising in Event Cameras

Event cameras are renowned for their high efficiency due to outputting a sparse, asynchronous stream of events. However, they are plagued by noisy events, especially in low light conditions. Denoising is an essential task for event cameras, but evaluating denoising performance is challenging. Label-dependent denoising metrics involve artificially adding noise to clean sequences, complicating evaluations. Moreover, the majority of these metrics are monotonic, which can inflate scores by removing substantial noise and valid events. To overcome these limitations, we propose the first label-free and non-monotonic evaluation metric, the area of the continuous contrast curve (AOCC), which utilizes the area enclosed by event frame contrast curves across different time intervals. This metric is inspired by how events capture the edge contours of scenes or objects with high temporal resolution. An effective denoising method removes noise without eliminating these edge-contour events, thus preserving the contrast of event frames. Consequently, contrast across various time ranges serves as a metric to assess denoising effectiveness. As the time interval lengthens, the curve will initially rise and then fall. The proposed metric is validated through both theoretical and experimental evidence.

cs.CV↗

arXiv2024

Two-dimensional silk

The ability to form silk films on semiconductors, metals, and oxides or as free-standing membranes has motivated research into silk-based electronic, optical, and biomedical devices. However, the inherent disorder of native silk limits device performance. Here we report the creation of highly ordered two-dimensional (2D) silk fibroin (SF) layers on van der Waals solids. Using in situ atomic force microscopy, synchrotron-based infrared spectroscopy, and molecular dynamics simulations, we develop a mechanistic understanding of the assembly process. We show that the films consist of lamellae having an epitaxial relationship with the underlying lattice and that the SF molecules exhibit the same Beta-sheet secondary structure seen in the crystallites of the native form. By increasing the SF concentration, multilayer films form via layer-by-layer growth, either along a classical pathway in which SF molecules assemble directly into the lamellae or, at sufficiently high concentrations, along a two-step pathway beginning with formation of a disordered monolayer that subsequently converts into the crystalline phase. Kelvin probe measurements show that these 2D SF layers substantially alter the surface potential. Moreover, the ability to assemble 2D silk on both graphite and MoS2 suggests that it may provide a general platform for silk-based electronics on vdW solids.

cond-mat.mtrl-sci↗

arXiv2023

IDO-VFI: Identifying Dynamics via Optical Flow Guidance for Video Frame Interpolation with Events

Video frame interpolation aims to generate high-quality intermediate frames from boundary frames and increase frame rate. While existing linear, symmetric and nonlinear models are used to bridge the gap from the lack of inter-frame motion, they cannot reconstruct real motions. Event cameras, however, are ideal for capturing inter-frame dynamics with their extremely high temporal resolution. In this paper, we propose an event-and-frame-based video frame interpolation method named IDO-VFI that assigns varying amounts of computation for different sub-regions via optical flow guidance. The proposed method first estimates the optical flow based on frames and events, and then decides whether to further calculate the residual optical flow in those sub-regions via a Gumbel gating module according to the optical flow amplitude. Intermediate frames are eventually generated through a concise Transformer-based fusion network. Our proposed method maintains high-quality performance while reducing computation time and computational effort by 10% and 17% respectively on Vimeo90K datasets, compared with a unified process on the whole region. Moreover, our method outperforms state-of-the-art frame-only and frames-plus-events methods on multiple video frame interpolation benchmarks. Codes and models are available at https://github.com/shicy17/IDO-VFI.

cs.CV↗

arXiv2020

Exponential stability for time-delay neural networks via new weighted integral inequalities

We study exponential stability for a kind of neural networks having time-varying delay. By extending the auxiliary function-based integral inequality, a novel integral inequality is derived by using weighted orthogonal functions of which one is discontinuous. Then, the new inequality is applied to investigate the exponential stability of time-delay neural networks via Lyapunov-Krasovskii functional (LKF) method. Numerical examples are given to verify the advantages of the proposed criterion.

math.OC↗

arXiv2018

Size-dependent lattice dynamics of atomically precise cadmium selenide quantum dots

Material properties depend sensitively on the atomic arrangements and atomic bonding, but these are notoriously difficult to measure in nanosized atomic clusters due to the small size of the objects and the challenge of obtaining bulk samples of identical clusters. Here we have combined the recent ability to make gram quantities of identical semiconductor quantum-dot nanoparticles with the ability to measure lattice dynamics on small sample quantities of hydrogenated materials using high energy resolution inelastic x-ray scattering (HERIX), to measure the size-dependence of the phonon density of states (PDOS) in CdSe quantum dots. The fact that we have atomically precise structural models for these nanoparticles allows the calculation of the PDOS using Density Functional Theory (DFT), providing both experimental and theoretical confirmations of the important role that the inertia of the surface capping species plays on determining the lattice dynamics.

cond-mat.mtrl-sci↗