Huayu Zhang

Xu Huang, Ruofan Zhang, Lu Cheng et al.

Ensuring functional safety in human-robot interaction is challenging because AI perception is inherently probabilistic, whereas industrial standards require deterministic behavior. We present an LLM-guided safety agent for edge robotics, built on an ISO-compliant low-latency perception-compute-control architecture. Our method translates natural-language safety regulations into executable predicates and deploys them through a redundant heterogeneous edge runtime. For fault-tolerant closed-loop execution under edge constraints, we adopt a symmetric dual-modular redundancy design with parallel independent execution for low-latency perception, computation, and control. We prototype the system on a dual-RK3588 platform and evaluate it in representative human-robot interaction scenarios. The results demonstrate a practical edge implementation path toward ISO 13849 Category 3 and PL d using cost-effective hardware, supporting practical deployment of safety-critical embodied AI.

Huayu Zhang, Dongyue Wu, Yuanjie Shao et al.

Recently, trimap-free methods have drawn increasing attention in human video matting due to their promising performance. Nevertheless, these methods still suffer from the lack of deterministic foreground-background cues, which impairs their ability to consistently identify and locate foreground targets over time and mine fine-grained details. In this paper, we present a trimap-free Object-Aware Video Matting (OAVM) framework, which can perceive different objects, enabling joint recognition of foreground objects and refinement of edge details. Specifically, we propose an Object-Guided Correction and Refinement (OGCR) module, which employs cross-frame guidance to aggregate object-level instance information into pixel-level detail features, thereby promoting their synergy. Furthermore, we design a Sequential Foreground Merging augmentation strategy to diversify sequential scenarios and enhance capacity of the network for object discrimination. Extensive experiments on recent widely used synthetic and real-world benchmarks demonstrate the state-of-the-art performance of our OAVM with only an initial coarse mask. The code and model will be available.