arXiv subjects

Haodong Zheng

Publications and source records attributed to Haodong Zheng.

4 recordsLinked to original sources

arXiv2026

Bayesian Active Object Recognition and 6D Pose Estimation from Multimodal Contact Sensing

We present an active tactile exploration framework for joint object recognition and 6D pose estimation. The proposed method integrates wrist force/torque sensing, GelSight tactile sensing, and free-space constraints within a Bayesian inference framework that maintains a belief over object class and pose during active tactile exploration. By combining contact and non-contact evidence, the framework reduces ambiguity and improves robustness in the joint class-pose estimation problem. To enable efficient inference in the large hypothesis space, we employ a customized particle filter that progressively samples particles based on new observations. The inferred belief is further used to guide active exploration by selecting informative next touches under reachability constraints. For effective data collection, a motion planning and control framework is developed to plan and execute feasible paths for tactile exploration, handle unexpected contacts and GelSight-surface alignment with tactile servoing. We evaluate the framework in simulation and on a Franka Panda robot using 11 YCB objects. Results show that incorporating tactile and free-space information substantially improves recognition and pose estimation accuracy and stability, while reducing the number of action cycles compared with force/torque-only baselines. Code, dataset, and supplementary material will be made available online.

cs.RO↗

arXiv2026

A Bayesian Framework for Active Tactile Object Recognition, Pose Estimation and Shape Transfer Learning

As humans can explore and understand the world through active touch, similar capability is desired for robots. In this paper, we address the problem of active tactile object recognition, pose estimation and shape transfer learning, where a customized particle filter (PF) and Gaussian process implicit surface (GPIS) is combined in a unified Bayesian framework. Upon new tactile input, the customized PF updates the joint distribution of the object class and object pose while tracking the novelty of the object. Once a novel object is identified, its shape will be reconstructed using GPIS. By grounding the prior of the GPIS with the maximum-a-posteriori (MAP) estimation from the PF, the knowledge about known shapes can be transferred to learn novel shapes. An exploration procedure based on global shape estimation is proposed to guide active data acquisition and terminate the exploration upon sufficient information. Through experiments in simulation, the proposed framework demonstrated its effectiveness and efficiency in estimating object class and pose for known objects and learning novel shapes. Furthermore, it can recognize previously learned shapes reliably.

cs.RO↗

arXiv2025

gigiProfiler: Diagnosing Performance Issues by Uncovering Application Resource Bottlenecks

Diagnosing performance bottlenecks in modern software is essential yet challenging, particularly as applications become more complex and rely on custom resource management policies. While traditional profilers effectively identify execution bottlenecks by tracing system-level metrics, they fall short when it comes to application-level resource contention caused by waiting for application-level events. In this work, we introduce OmniResource Profiling, a performance analysis approach that integrates system-level and application-level resource tracing to diagnose resource bottlenecks comprehensively. gigiProfiler, our realization of OmniResource Profiling, uses a hybrid LLM-static analysis approach to identify application-defined resources offline and analyze their impact on performance during buggy executions to uncover the performance bottleneck. gigiProfiler then samples and records critical variables related to these bottleneck resources during buggy execution and compares their value with those from normal executions to identify the root causes. We evaluated gigiProfiler on 12 real-world performance issues across five applications. gigiProfiler accurately identified performance bottlenecks in all cases. gigiProfiler also successfully diagnosed the root causes of two newly emerged, previously undiagnosed problems, with the findings confirmed by developers.

cs.PF↗

arXiv2018

Modeling and Multi-objective Optimization of a Kind of Teaching Manipulator

A new kind of six degree-of-freedom teaching manipulator without actuators is designed, for recording and conveniently setting a trajectory of an industrial robot. The device requires good gravity balance and operating force performance to ensure being controlled easily and fluently. In this paper, we propose a process for modeling the manipulator and then the model is used to formulate a multi-objective optimization problem to optimize the design of the testing manipulator. Three objectives, including total mass of the device, gravity balancing and operating force performance are analyzed and defined. A popular non-dominated sorting genetic algorithm (NSGA-II-CDP) is used to solve the optimization problem. The obtained solutions all outperform the design of a human expert. To extract design knowledge, an innovization study is performed to establish meaningful implicit relationship between the objective space and the decision space, which can be reused by the designer in future design process.

cs.RO↗