27 citations · 48 across the 14 of their papers we have counts for
19 papers
DepState-JEPA: Learning Depth-Grounded State Representation for Visual Perception and Manipulation
Xiujian Liang, Liuyuan Na, Zehao Du +6
Predictive representations for robot manipulation should connect scene geometry with the state changes induced by actions. Our intuition is that understanding what an action will c…
ObjDream: Guiding Vision-Language-Action Models with Object-Level Understanding and Future State Prediction
Huailiang Ma, Yuxuan Li, Ziyi Zhao +7
Vision-language-action (VLA) models have emerged as a powerful paradigm for robotic manipulation, enabling robots to generate actions from visual observations and language instruct…
SchemaPose: RGB-Based Category-Level Pose Estimation with Parametric Category Schema
Shuang Wu, Jiude Wei, Cewu Lu +1
RGB-based category-level 9D pose estimation remains highly challenging because a monocular system must generalize across unseen object instances while jointly inferring 3D translat…
PredActor: Predictive Action Diffusion for Steerable Onboard Humanoid Control
Lei Ye, Haibo Gao, Yitang Li +10
Diffusion models provide a flexible framework for motion generation, but turning this flexibility into closed-loop humanoid control remains challenging. Hierarchical generator-trac…
NeuIDO: Neural Intrinsic Dynamics Operator for Physics-Informed 4D World Models
Jiajing Lin, Xin Zhang, Jianhua Sun
World models aim to capture environmental dynamics and predict future trajectories, showing growing potential for embodied intelligence. Physics-informed 4D generation integrates p…
Analytic Dynamics: Learning Physics-Grounded Representation for Fast Intrinsic Dynamics Inference from Monocular Videos
Jailing Lin, Jikuan Zhang, Jianhua Sun
Inferring object dynamics from visual observations is essential for intelligent agents to reason about and interact with the physical world, yet remains challenging due to the fund…
Explicit Kinematic Guidance from Analytic Concepts for Vision-Language-Action Models
Mingyang Sun, Jiude Wei, Xiujian Liang +4
Current Vision-Language-Action (VLA) models rely mainly on 2D inputs, neglecting the rich object structural information and commonsense knowledge inherent in the 3D physical world.…
Analytic Concept-Centric Memory for Agentic Embodied Manipulation
Mingyang Sun, Xiujian Liang, Jiude Wei +4
Long-horizon embodied manipulation requires agents to remember persistent objects, track changing scene states, and reuse prior interaction knowledge. However, existing agent memor…
RealDiff: Bridging Real-World Gap in Robot Manipulation via Depth Diffusion
Xiujian Liang, Jiacheng Liu, Mingyang Sun +3
Robot manipulation in the real world is fundamentally constrained by the visual sim2real gap, where depth observations collected in simulation fail to reflect the complex noise pat…
Executable Analytic Concepts as the Missing Link Between VLM Insight and Precise Manipulation
Mingyang Sun, Jiude Wei, Qichen He +3
Enabling robots to perform precise and generalized manipulation in unstructured environments remains a fundamental challenge in embodied AI. While Vision-Language Models (VLMs) hav…
Digital Gene: Learning about the Physical World through Analytic Concepts
Jianhua Sun, Cewu Lu
Reviewing the progress in artificial intelligence over the past decade, various significant advances (e.g. object detection, image generation, large language models) have enabled A…
Physically Ground Commonsense Knowledge for Articulated Object Manipulation with Analytic Concepts
Jiude Wei, Yuxuan Li, Cewu Lu +1
We humans rely on a wide range of commonsense knowledge to interact with an extensive number and categories of objects in the physical world. Likewise, such commonsense knowledge i…
Arti-PG: A Toolbox for Procedurally Synthesizing Large-Scale and Diverse Articulated Objects with Rich Annotations
Jianhua Sun, Yuxuan Li, Jiude Wei +4
The acquisition of substantial volumes of 3D articulated object data is expensive and time-consuming, and consequently the scarcity of 3D articulated object data becomes an obstacl…
ConceptFactory: Facilitate 3D Object Knowledge Annotation with Object Conceptualization
Jianhua Sun, Yuxuan Li, Longfei Xu +4
We present ConceptFactory, a novel scope to facilitate more efficient annotation of 3D object knowledge by recognizing 3D objects through generalized concepts (i.e. object conceptu…
Discovering Conceptual Knowledge with Analytic Ontology Templates for Articulated Objects
Jianhua Sun, Yuxuan Li, Longfei Xu +3
Human cognition can leverage fundamental conceptual knowledge, like geometric and kinematic ones, to appropriately perceive, comprehend and interact with novel objects. Motivated b…
Symbol-LLM: Leverage Language Models for Symbolic System in Visual Human Activity Reasoning
Xiaoqian Wu, Yong-Lu Li, Jianhua Sun +1
Human reasoning can be understood as a cooperation between the intuitive, associative "System-1" and the deliberative, logical "System-2". For existing System-1-like methods in vis…
Three Steps to Multimodal Trajectory Prediction: Modality Clustering, Classification and Synthesis
Jianhua Sun, Yuxuan Li, Hao-Shu Fang +1
Multimodal prediction results are essential for trajectory prediction task as there is no single correct answer for the future. Previous frameworks can be divided into three catego…
Recursive Social Behavior Graph for Trajectory Prediction
Jianhua Sun, Qinhong Jiang, Cewu Lu
Social interaction is an important topic in human trajectory prediction to generate plausible paths. In this paper, we present a novel insight of group-based social interaction mod…
InstaBoost: Boosting Instance Segmentation via Probability Map Guided Copy-Pasting
Hao-Shu Fang, Jianhua Sun, Runzhong Wang +3
Instance segmentation requires a large number of training samples to achieve satisfactory performance and benefits from proper data augmentation. To enlarge the training set and in…