Selected work

Representative Papers

Phone2Act: A Low-Cost, Hardware-Agnostic Teleoperation System for Scalable VLA Data Collection

May 03, 2026

This work addresses the high cost and hardware dependency of existing vision-language-action (VLA) models, which rely on expensive, platform-specific demonstration data that lacks cross-platform reusability. The authors propose a low-cost, hardware-agnostic teleoperation system leveraging a smartphone and Google ARCore to achieve six-degree-of-freedom control. Built on a modular ROS 2 architecture, the system decouples control logic from hardware through pluggable bridge nodes, enabling seamless integration across diverse robotic platforms. It synchronizes multi-camera RGB video with robot state data to directly generate datasets in LeRobot format. Without requiring code modifications, the framework supports end-to-end workflows—from data collection to VLA model fine-tuning—spanning industrial collaborative robots to low-cost dual-arm setups. Fine-tuning the GR00T-N1.5 model on 130 task demonstrations achieves a 90% success rate on multi-stage pick-and-place tasks executed on a real Dobot CR5 robot.

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3D Architect: An Automated Approach to Three-Dimensional Modeling

Mar 30, 2026

This work proposes a fully automated method for reconstructing high-fidelity three-dimensional models from multiple orthogonal views of an object. The approach begins by extracting key control points using Harris corner detection, followed by generating mutually orthogonal bounding volumes through orthographic projection and constructing a 3D point cloud from their intersections. Subsequently, computational geometry algorithms are employed to recover the surface topology, and the resulting model is rendered using OpenGL for visualization. The entire pipeline operates without human intervention, achieving end-to-end reconstruction from 2D orthogonal projections to a complete 3D structure. The method demonstrates notable advantages in geometric consistency and reconstruction completeness compared to existing approaches.

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Recent publications

Latest Papers

Phone2Act: A Low-Cost, Hardware-Agnostic Teleoperation System for Scalable VLA Data Collection

May 03, 2026

This work addresses the high cost and hardware dependency of existing vision-language-action (VLA) models, which rely on expensive, platform-specific demonstration data that lacks cross-platform reusability. The authors propose a low-cost, hardware-agnostic teleoperation system leveraging a smartphone and Google ARCore to achieve six-degree-of-freedom control. Built on a modular ROS 2 architecture, the system decouples control logic from hardware through pluggable bridge nodes, enabling seamless integration across diverse robotic platforms. It synchronizes multi-camera RGB video with robot state data to directly generate datasets in LeRobot format. Without requiring code modifications, the framework supports end-to-end workflows—from data collection to VLA model fine-tuning—spanning industrial collaborative robots to low-cost dual-arm setups. Fine-tuning the GR00T-N1.5 model on 130 task demonstrations achieves a 90% success rate on multi-stage pick-and-place tasks executed on a real Dobot CR5 robot.

0 citationsRead paper

3D Architect: An Automated Approach to Three-Dimensional Modeling

Mar 30, 2026

This work proposes a fully automated method for reconstructing high-fidelity three-dimensional models from multiple orthogonal views of an object. The approach begins by extracting key control points using Harris corner detection, followed by generating mutually orthogonal bounding volumes through orthographic projection and constructing a 3D point cloud from their intersections. Subsequently, computational geometry algorithms are employed to recover the surface topology, and the resulting model is rendered using OpenGL for visualization. The entire pipeline operates without human intervention, achieving end-to-end reconstruction from 2D orthogonal projections to a complete 3D structure. The method demonstrates notable advantages in geometric consistency and reconstruction completeness compared to existing approaches.

0 citationsRead paper