From the 1 of 5 linked papers with an AI index.
5 papers
DECO: Decoupled Multimodal Diffusion Transformer for Bimanual Dexterous Manipulation with a Plugin Tactile Adapter
Xukun Li, Yu Sun, Lei Zhang +10
The paper introduces DECO, a diffusion‑based transformer that separately processes vision, proprioception, and tactile inputs for bimanual dexterous robot manipulation, and include…
MOSAIC: Bridging the Sim-to-Real Gap in Generalist Humanoid Motion Tracking and Teleoperation with Rapid Residual Adaptation
Zhenguo Sun, Bo-Sheng Huang, Yibo Peng +9
Generalist humanoid motion trackers have recently achieved strong simulation metrics by scaling data and training, yet often remain brittle on hardware during sustained teleoperati…
RobotDancing: Residual-Action Reinforcement Learning Enables Robust Long-Horizon Humanoid Motion Tracking
Zhenguo Sun, Yibo Peng, Yuan Meng +5
Long-horizon, high-dynamic motion tracking on humanoids remains brittle: retargeted reference motions are typically kinematically plausible but dynamically inconsistent with the ro…
Growing with Your Embodied Agent: A Human-in-the-Loop Lifelong Code Generation Framework for Long-Horizon Manipulation Skills
Yuan Meng, Zhenguo Sun, Max Fest +3
Large language models (LLMs)-based code generation for robotic manipulation has recently shown promise by directly translating human instructions into executable code, but existing…
Embodied Long Horizon Manipulation with Closed-loop Code Generation and Incremental Few-shot Adaptation
Yuan Meng, Xiangtong Yao, Haihui Ye +6
Embodied long-horizon manipulation requires robotic systems to process multimodal inputs-such as vision and natural language-and translate them into executable actions. However, ex…