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Zhaoda Du

Publications and source records attributed to Zhaoda Du.

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Task-Driven 3D Printability Assistance via Geometry- and Knowledge-Grounded LLM Reasoning

Printability assessment in additive manufacturing is typically conducted at the geometry level before printing to determine whether a computer-aided design (CAD) model or stereolithography (STL) file can be successfully fabricated. Task suitability, in contrast, is usually evaluated after printing to determine whether the fabricated part satisfies the requirements of its intended use. As a result, for non-expert users to print functional parts, unsuitable material or process choices may only be identified after fabrication, leading to repeated printing, material waste, and user frustration. To address this challenge, this paper leverages the reasoning and language-understanding capabilities of large language models (LLMs), while grounding the reasoning with geometry evidence and structured material/printer knowledge to generate reliable pre-print recommendations. Given a stereolithography (STL) model and a natural-language task description, the framework generates a structured recommendation covering printability, material choice, process parameters, design guidance, risks, and explanations. We evaluate the framework on focused STL benchmark scenarios with novice-style task descriptions. The proposed method achieves 75.0% printability over 96 physical validation trials, with 88.9% task suitability among successfully printed samples. It also improves Gemini 2.5 Flash-Lite material-selection accuracy from 37.5% under pure LLM to 90.0%. Expert evaluation further shows improved report quality, while post-print feedback improves recommendations on selected problematic cases. These results suggest that user task intent, geometry evidence, and structured material knowledge are all important for reliable task-driven printability assistance.

cs.AI

Decision-Aware Uncertainty Evaluation of Vision-Language Model-Based Early Action Anticipation for Human-Robot Interaction

Robots in shared workspaces must interpret human actions from partial, ambiguous observations, where overconfident early predictions can lead to unsafe or disruptive interaction. This challenge is amplified in egocentric views, where viewpoint changes and occlusions increase perceptual noise and ambiguity. As a result, downstream human-robot interaction modules require not only an action hypothesis but also a trustworthy estimate of confidence under partial observation. Recent vision-language model-based approaches have been proposed for short-term action recognition due to their open-vocabulary and context-aware reasoning, but their uncertainty reliability in the temporal-prefix regime is largely uncharacterized. We present the first systematic evaluation of uncertainty in vision-language model-based short-term action recognition for human-robot interaction. We introduce a temporal-prefix evaluation protocol and metrics for calibration and selective prediction. We also characterize miscalibration patterns and failure modes under partial observations. Our study provides the missing reliability evidence needed to use vision-language model predictions in confidence-gated human-robot interaction modules.

cs.RO