15 papers
Layer barriers for colour-biased tight Hamilton cycles
Zijian Deng, Qinfei Tang, Caihong Yang
We construct a family of layer barriers for colour-biased tight Hamilton cycles in uniform hypergraphs. For every and every , we give a red--blue col…
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…
A Closed-Loop Multi-Agent Framework for Robust Multi-Robot Manipulation
Yi-Xiang He, Lan Wei, Haoming Cen +6
Multi-robot systems provide the parallelism and redundancy necessary for long-horizon tasks, while Large Language Models (LLMs) offer the reasoning capabilities to decompose these…
Humanoid Whole-Body Manipulation via Active Spatial Brain and Generalizable Action Cerebellum
Zhizhao Liang, Yi-Lin Wei, Xuhang Chen +6
In this paper, we explore spatial-aware humanoid whole-body manipulation task. Compared with tabletop settings, this task poses two key challenges: 1) Spatial understanding is chal…
HATS: A Human-Agent Teleoperation System for Multi-Arm Data Collection
Zesen Lin, Jian-Jian Jiang, Haoming Cen +3
Many real-world manipulation scenarios, such as handling complex collaborative tasks and dealing with large workspaces, require coordination of more than two robotic arms. Conseque…
From Abstraction to Instantiation: Learning Behavioral Representation for Vision-Language-Action Model
Bing Hu, Zaijing Li, Rui Shao +4
Vision-Language-Action (VLA) models often suffer from performance degradation under distribution shifts, as they struggle to learn generalized behavior representations across varyi…