Publications

You can also find my articles on my Google Scholar profile.

(*: equal contribution, †: equal advisory contribution)

Vision-Force Admittance Learning for Peg Insertion into a Movable Hole

Yuzhong Chen¹, Yongqing Liang¹, Yunzhi Xu², Irving Fang¹, Chase Kidder², Hui-ping Wang², Raihan Haque², Yubiao Zhang², Chen Feng^1✉

IEEE Robotics and Automation Letters (RA-L), 2026

¹New York University ²General Motors (✉: corresponding author)

Highlight: VFAL fuses asynchronous visual pose estimates from vision foundation models with a high-frequency force-based admittance model, adapting the insertion strategy online to a moving hole while keeping millimeter-level precision, with failure-recovery mechanisms for added robustness.

Paper ArXiv Project Details

EgoPAT3Dv2: Predicting 3D Action Target from 2D Egocentric Vision for Human-Robot Interaction

Irving Fang, Yuzhong Chen, Yifan Wang*, Jianghan Zhang†, Qiushi Zhang†, Jiali Xu†, Xibo He, Weibo Gao, Hao Su, Yiming Li, Chen Feng

IEEE International Conference on Robotics and Automation (ICRA), 2024

(*, †: equal contribution)

Highlight: Predicts the 3D action target of a human hand directly from 2D egocentric video, enabling anticipatory human-robot interaction and AR applications.

Paper ArXiv Code Project Details