10 papers
BiNoMaP: Learning Category-Level Bimanual Non-Prehensile Manipulation Primitives
Huayi Zhou, Kui Jia
Non-prehensile manipulation, encompassing ungraspable actions such as pushing, poking, pivoting, and wrapping, remains underexplored due to its contact-rich and analytically intrac…
HACMatch Semi-Supervised Rotation Regression with Hardness-Aware Curriculum Pseudo Labeling
Mei Li, Huayi Zhou, Suizhi Huang +3
Regressing 3D rotations of objects from 2D images is a crucial yet challenging task, with broad applications in autonomous driving, virtual reality, and robotic control. Existing r…
Dexterity-BEV: Aligning 3D World and Actions for Generalizable Robot Policies Learning
Huayi Zhou, Wei Gao, Dekun Lu +12
End-to-end manipulation policies, combined with web-scale pretrained Vision-Language Models (VLMs), show the promise for generalizable and dexterous robotic manipulation. However,…
From Reaction to Anticipation: Proactive Failure Recovery through Agentic Task Graph for Robotic Manipulation
Sheng Xu, Ruixing Jin, Huayi Zhou +6
Although robotic manipulation has made significant progress, reliable execution remains challenging because task failures are inevitable in dynamic and unstructured environments. T…
VLBiMan: Vision-Language Anchored One-Shot Demonstration Enables Generalizable Bimanual Robotic Manipulation
Huayi Zhou, Kui Jia
Achieving generalizable bimanual manipulation requires systems that can learn efficiently from minimal human input while adapting to real-world uncertainties and diverse embodiment…
One-Shot Real-World Demonstration Synthesis for Scalable Bimanual Manipulation
Huayi Zhou, Kui Jia
Learning dexterous bimanual manipulation policies critically depends on large-scale, high-quality demonstrations, yet current paradigms face inherent trade-offs: teleoperation prov…