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- Beihang UniversityCN32 papers
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- Chinese Academy of SciencesCN6 papers
- Beijing Academy of Artificial IntelligenceCN5 papers
- Tsinghua UniversityCN5 papers
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- Chinese University of Hong KongHK3 papers
- Institute of PhysicsPL3 papers
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- Beijing Language and Culture UniversityCN2 papers
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5 papers · 1 filter
DPL: Depth-only Perceptive Humanoid Locomotion via Realistic Depth Synthesis and Cross-Attention Terrain Reconstruction
Jingkai Sun, Gang Han, Pihai Sun +5
Recent advancements in legged robot perceptive locomotion have shown promising progress. However, terrain-aware humanoid locomotion remains largely constrained to two paradigms: de…
HACTS: a Human-As-Copilot Teleoperation System for Robot Learning
Zhiyuan Xu, Yinuo Zhao, Kun Wu +5
Teleoperation is essential for autonomous robot learning, especially in manipulation tasks that require human demonstrations or corrections. However, most existing systems only off…
Diffusion Trajectory-guided Policy for Long-horizon Robot Manipulation
Shichao Fan, Quantao Yang, Yajie Liu +4
Recently, Vision-Language-Action models (VLA) have advanced robot imitation learning, but high data collection costs and limited demonstrations hinder generalization and current im…
RoboMIND: Benchmark on Multi-embodiment Intelligence Normative Data for Robot Manipulation
Kun Wu, Chengkai Hou, Jiaming Liu +34
In this paper, we introduce RoboMIND (Multi-embodiment Intelligence Normative Data for Robot Manipulation), a dataset containing 107k demonstration trajectories across 479 diverse…
Learning from Imperfect Demonstrations with Self-Supervision for Robotic Manipulation
Kun Wu, Ning Liu, Zhen Zhao +5
Improving data utilization, especially for imperfect data from task failures, is crucial for robotic manipulation due to the challenging, time-consuming, and expensive data collect…