8 papers
PhysV2A: Reachability-Gated and Semantic-Mask-Constrained Feasibility Completion for Video-to-Robot Manipulation
Haohui Huang, Junda Duan, Tao Teng +1
Video-based manipulation provides object-centric motion priors from human demonstrations, generated videos, or RGB-D observations, but such priors are typically embodiment-agnostic…
GenVid2Robot: From Video Generation to Robot Manipulation via Rigid-Geometric Consistency
Haohui Huang, Xi Yuan, Panpan Liao +4
Generated videos provide useful visual motion priors for robot manipulation, but their visual plausibility does not imply physical executability. A generated video usually lacks me…
Towards Deploying VLA without Fine-Tuning: Plug-and-Play Inference-Time VLA Policy Steering via Embodied Evolutionary Diffusion
Zhuo Li, Junjia Liu, Zhipeng Dong +4
Vision-Language-Action (VLA) models have demonstrated significant potential in real-world robotic manipulation. However, pre-trained VLA policies still suffer from substantial perf…
Adapt as You Say: Online Interactive Bimanual Skill Adaptation via Human Language Feedback
Zhuo Li, Dianxi Li, Tao Teng +5
Developing general-purpose robots capable of autonomously operating in human living environments requires the ability to adapt to continuously evolving task conditions. However, ad…
Interactive Motion Planning for Human-Robot Collaboration Based on Human-Centric Configuration Space Ergonomic Field
Chenzui Li, Yiming Chen, Xi Wu +4
Industrial human-robot collaboration requires motion planning that is collision-free, responsive, and ergonomically safe to reduce fatigue and musculoskeletal risk. We propose the…
Human-Like Robot Impedance Regulation Skill Learning from Human-Human Demonstrations
Chenzui Li, Xi Wu, Yiming Chen +5
Humans are experts in physical collaboration by leveraging cognitive abilities such as perception, reasoning, and decision-making to regulate compliance behaviors based on their pa…