4 papers
PriGo: Test-Time Primitive Guidance to Diffusion and Flow Policies for Adaptive Robotic Manipulation
Zezeng Li, Enda Xiang, Thuy Tran +3
Imitation learning has enabled remarkable progress in robotic manipulation, especially with diffusion and flow-based policies that generate complex visuomotor behaviors directly fr…
Flowing With Purpose: Latent Action Guided Flow Matching Policies For Robotic Manipulation
Bruno Machado, Alexandre Chapin, Emmanuel Dellandrea +1
Flow matching has recently become a new standard for behavior cloning in robotic manipulation. However, state-of-the-art flow matching policies suffer from a systematic structural…
Robotic Manipulation via Imitation Learning: Taxonomy, Evolution, Benchmark, and Challenges
Zezeng Li, Alexandre Chapin, Enda Xiang +6
Robotic Manipulation (RM) is central to the advancement of autonomous robots, enabling them to interact with and manipulate objects in real-world environments. This survey focuses…
NoPain: No-box Point Cloud Attack via Optimal Transport Singular Boundary
Zezeng Li, Xiaoyu Du, Na Lei +2
Adversarial attacks exploit the vulnerability of deep models against adversarial samples. Existing point cloud attackers are tailored to specific models, iteratively optimizing per…