Haichao Gui

Shijie Wang, Haichao Gui, Rui Zhong

This paper addresses two interrelated problems of the nonlinear filtering mechanism and fast attitude filtering with the matrix Fisher distribution (MFD) on the special orthogonal group. By analyzing the distribution evolution along Bayes' rule, we reveal two essential properties that enhance the performance of Bayesian attitude filters with MFDs, particularly in challenging conditions. Benefiting from the new understanding of the filtering mechanism associated with MFDs, two closed-form filters with MFDs are then proposed. These filters avoid the burdensome computations in previous MFD-based filters by introducing linearized error systems with right-invariant errors but retaining the two advantageous properties. The proposed filter with right-invariant error is proven to be almost globally asymptotically stable for any trajectory on $SO(3)$ leveraging its closed-form iteration and global uncertainty representation with MFDs. Moreover, we further prove the local exponential stability of the filter for single-axis rotations to reveal the effect of the two properties on the convergence rate. These stability results support the performance of the proposed filter with large initial error from a theoretical viewpoint, which to our knowledge, is not achieved by existing directional statistics-based filters. Numerical simulations demonstrate that proposed filters are as accurate as recent MFD-based Bayesian filters in challenging circumstances but consume far less computation time (about 1/5 to 1/100 of previous MFD-based attitude filters).

Iok Tong Lei, QianZhi Li, Ying Jie Yap et al.

Open-ended tabletop manipulation requires agents to not only understand natural language but also adapt to dynamic environments and execution failures. We present ACE (Agentic Control for Embodied Manipulation), a zero-shot workflow reasoning framework for tabletop pick-and-place from natural language. Rather than relying on direct low-level action mapping, ACE combines agentic workflow reasoning with two robot-facing executable skills: a visual grounding interface and a reusable pick-and-place primitive. To bridge semantic reasoning and physical control, the active sub-goal is grounded into a mask-mediated vision-action interface. This unified mask specifies the target object and destination, is tracked over time, exposed for human verification, and ultimately passed to a task-agnostic downstream policy for execution. Crucially, ACE operates in a closed loop supported by a multi-timescale memory. After an action is executed, the system automatically verifies whether the intended sub-goal succeeded, using the outcome to advance, retry, repair, or replan. This enables online adaptation to user corrections, scene changes, and physical failures. We evaluate ACE on logically complex, long-horizon tasks, including zero-shot multi-step equation formation with number cubes and constraint-based object retrieval. ACE demonstrates task-level zero-shot generalization on novel semantic constraints and randomized tabletop scenes without task-specific retraining. Specifically, while standard end-to-end baselines struggle to complete these logically demanding tasks, ACE achieves a 50% success rate in equation formation and a 70% success rate in constraint retrieval. This contrast demonstrates that explicit workflow reasoning and mask-mediated control offer a robust, practical route toward adaptable robotic manipulation.