Publications (18)
ZeroDexGrasp: Zero-Shot Task-Oriented Dexterous Grasp Synthesis with Prompt-Based Multi-Stage Semantic Reasoning
Juntao Jian, Yi-Lin Wei, Chengjie Mou +5
Task-oriented dexterous grasping holds broad application prospects in robotic manipulation and human-object interaction. However, most existing methods still struggle to generalize…
DynamicManip: Enabling Dynamic Manipulation from a Single Static Demonstration
Haoran Liao, Pengyue Wang, Shuoyu Chen +10
Dynamic manipulation is a critical capability for robots operating in complex and dynamic environments, where robots must interact with objects that are moving or require rapid adj…
DexGrasp-Zero: A Morphology-Aligned Policy for Zero-Shot Cross-Embodiment Dexterous Grasping
Yuliang Wu, Yanhan Lin, WengKit Lao +4
To meet the demands of increasingly diverse dexterous hand hardware, it is crucial to develop a policy that enables zero-shot cross-embodiment grasping without redundant re-learnin…
How Significant Are the Real Performance Gains? An Unbiased Evaluation Framework for GraphRAG
Qiming Zeng, Xiao Yan, Hao Luo +6
By retrieving contexts from knowledge graphs, graph-based retrieval-augmented generation (GraphRAG) enhances large language models (LLMs) to generate quality answers for user quest…
Masked and Adaptive Transformer for Exemplar Based Image Translation
Chang Jiang, Fei Gao, Biao Ma +3
We present a novel framework for exemplar based image translation. Recent advanced methods for this task mainly focus on establishing cross-domain semantic correspondence, which se…
Categorical Keypoint Positional Embedding for Robust Animal Re-Identification
Yuhao Lin, Lingqiao Liu, Javen Shi
Animal re-identification (ReID) has become an indispensable tool in ecological research, playing a critical role in tracking population dynamics, analyzing behavioral patterns, and…
TypeTele: Releasing Dexterity in Teleoperation by Dexterous Manipulation Types
Yuhao Lin, Yi-Lin Wei, Haoran Liao +6
Dexterous teleoperation plays a crucial role in robotic manipulation for real-world data collection and remote robot control. Previous dexterous teleoperation mostly relies on hand…
BiDexGrasp: Coordinated Bimanual Dexterous Grasps across Object Geometries and Sizes
Mu Lin, Yi-Lin Wei, Jiaxuan Chen +7
Bimanual dexterous grasping is a fundamental and promising area in robotics, yet its progress is constrained by the lack of comprehensive datasets and powerful generation models. I…
Semantic Role Labeling Guided Out-of-distribution Detection
Jinan Zou, Maihao Guo, Yu Tian +5
Identifying unexpected domain-shifted instances in natural language processing is crucial in real-world applications. Previous works identify the out-of-distribution (OOD) instance…
AffordDexGrasp: Open-set Language-guided Dexterous Grasp with Generalizable-Instructive Affordance
Yi-Lin Wei, Mu Lin, Yuhao Lin +4
Language-guided robot dexterous generation enables robots to grasp and manipulate objects based on human commands. However, previous data-driven methods are hard to understand inte…
TacCap: A Wearable FBG-Based Tactile Sensor for Seamless Human-to-Robot Skill Transfer
Chengyi Xing, Hao Li, Yi-Lin Wei +6
Tactile sensing is essential for dexterous manipulation, yet large-scale human demonstration datasets lack tactile feedback, limiting their effectiveness in skill transfer to robot…
Revisiting Image Reconstruction for Semi-supervised Semantic Segmentation
Yuhao Lin, Haiming Xu, Lingqiao Liu +2
Autoencoding, which aims to reconstruct the input images through a bottleneck latent representation, is one of the classic feature representation learning strategies. It has been s…
OmniDexGrasp: Generalizable Dexterous Grasping via Foundation Model and Force Feedback
Yi-Lin Wei, Zhexi Luo, Yuhao Lin +4
Enabling robots to dexterously grasp and manipulate objects based on human commands is a promising direction in robotics. However, existing approaches are challenging to generalize…
Guiding LLM-based Smart Contract Generation with Finite State Machine
Hao Luo, Yuhao Lin, Xiao Yan +5
Smart contract is a kind of self-executing code based on blockchain technology with a wide range of application scenarios, but the traditional generation method relies on manual co…
CycleManip: Enabling Cyclic Task Manipulation via Effective Historical Perception and Understanding
Yi-Lin Wei, Haoran Liao, Yuhao Lin +4
In this paper, we explore an important yet underexplored task in robot manipulation: cycle-based manipulation, where robots need to perform cyclic or repetitive actions with an exp…
Astock: A New Dataset and Automated Stock Trading based on Stock-specific News Analyzing Model
Jinan Zou, Haiyao Cao, Lingqiao Liu +3
Natural Language Processing(NLP) demonstrates a great potential to support financial decision-making by analyzing the text from social media or news outlets. In this work, we build…
FuxiShuffle: An Adaptive and Resilient Shuffle Service for Distributed Data Processing on Alibaba Cloud
Yuhao Lin, Zhipeng Tang, Jiayan Tong +11
Shuffle exchanges intermediate results between upstream and downstream operators in distributed data processing and is usually the bottleneck due to factors such as small random I/…
A Simple-but-effective Baseline for Training-free Class-Agnostic Counting
Yuhao Lin, Haiming Xu, Lingqiao Liu +1
Class-Agnostic Counting (CAC) seeks to accurately count objects in a given image with only a few reference examples. While previous methods achieving this relied on additional trai…