15 citations · 72 across the 27 of their papers we have counts for
6 papers · 1 filter
Fetch My Beer: Synthetic-to-real Hierarchical Policy for Smooth Pick-and-place
Yingyue Li, Chenyangguang Zhang, Ruida Zhang +3
Many real-world robotic applications require dynamically sensitive manipulation, where success depends not only on reaching a target state but on maintaining stable object dynamics…
STARE-VLA: Progressive Stage-Aware Reinforcement for Fine-Tuning Vision-Language-Action Models
Feng Xu, Guangyao Zhai, Xin Kong +4
Recent advances in Vision-Language-Action (VLA) models, powered by large language models and reinforcement learning-based fine-tuning, have shown remarkable progress in robotic man…
KGN-Pro: Keypoint-Based Grasp Prediction through Probabilistic 2D-3D Correspondence Learning
Bingran Chen, Baorun Li, Jian Yang +2
High-level robotic manipulation tasks demand flexible 6-DoF grasp estimation to serve as a basic function. Previous approaches either directly generate grasps from point-cloud data…
SG-Bot: Object Rearrangement via Coarse-to-Fine Robotic Imagination on Scene Graphs
Guangyao Zhai, Xiaoni Cai, Dianye Huang +5
Object rearrangement is pivotal in robotic-environment interactions, representing a significant capability in embodied AI. In this paper, we present SG-Bot, a novel rearrangement f…
MonoGraspNet: 6-DoF Grasping with a Single RGB Image
Guangyao Zhai, Dianye Huang, Shun-Cheng Wu +6
6-DoF robotic grasping is a long-lasting but unsolved problem. Recent methods utilize strong 3D networks to extract geometric grasping representations from depth sensors, demonstra…
DA Dataset: Toward Dexterity-Aware Dual-Arm Grasping
Guangyao Zhai, Yu Zheng, Ziwei Xu +6
In this paper, we introduce DA, the first large-scale dual-arm dexterity-aware dataset for the generation of optimal bimanual grasping pairs for arbitrary large objects. The da…