3 citations · 6 across the 8 of their papers we have counts for
10 papers
ContactBench 1.0: A Benchmark for Everyday Contact-Rich Robotic Manipulation
Jingyi Xiang, Yixuan Wang, Jeannette Bohg +1
Contact-rich manipulation is essential to everyday activities, yet evaluating robots' ability to perform these activities remains challenging because of their diverse contact behav…
Hydra-0: Action Flow for Generalist World Modeling and Control
Hongyu Li, Bowen Wen, Xinghao Zhu +8
We introduce Hydra-0, a generalist world model conditioned on action flow, which represents robot actions as pixel motion. This shared visual interface enables generalist world mod…
Interactive World Simulator for Robot Policy Training and Evaluation
Yixuan Wang, Rhythm Syed, Fangyu Wu +7
Action-conditioned video prediction models (often referred to as world models) have shown strong potential for robotics applications, but existing approaches are often slow and str…
CodeDiffuser: Attention-Enhanced Diffusion Policy via VLM-Generated Code for Instruction Ambiguity
Guang Yin, Yitong Li, Yixuan Wang +6
Natural language instructions for robotic manipulation tasks often exhibit ambiguity and vagueness. For instance, the instruction "Hang a mug on the mug tree" may involve multiple…
CuriousBot: Interactive Mobile Exploration via Actionable 3D Relational Object Graph
Yixuan Wang, Leonor Fermoselle, Tarik Kelestemur +2
Mobile exploration is a longstanding challenge in robotics, yet current methods primarily focus on active perception instead of active interaction, limiting the robot's ability to…
GenDP: 3D Semantic Fields for Category-Level Generalizable Diffusion Policy
Yixuan Wang, Guang Yin, Binghao Huang +3
Diffusion-based policies have shown remarkable capability in executing complex robotic manipulation tasks but lack explicit characterization of geometry and semantics, which often…
Predicting Object Interactions with Behavior Primitives: An Application in Stowing Tasks
Haonan Chen, Yilong Niu, Kaiwen Hong +4
Stowing, the task of placing objects in cluttered shelves or bins, is a common task in warehouse and manufacturing operations. However, this task is still predominantly carried out…
DFields: Dynamic 3D Descriptor Fields for Zero-Shot Generalizable Rearrangement
Yixuan Wang, Mingtong Zhang, Zhuoran Li +5
Scene representation is a crucial design choice in robotic manipulation systems. An ideal representation is expected to be 3D, dynamic, and semantic to meet the demands of diverse…
Dynamic-Resolution Model Learning for Object Pile Manipulation
Yixuan Wang, Yunzhu Li, Katherine Driggs-Campbell +2
Dynamics models learned from visual observations have shown to be effective in various robotic manipulation tasks. One of the key questions for learning such dynamics models is wha…
Tracking Partially-Occluded Deformable Objects while Enforcing Geometric Constraints
Yixuan Wang, Dale McConachie, Dmitry Berenson
In order to manipulate a deformable object, such as rope or cloth, in unstructured environments, robots need a way to estimate its current shape. However, tracking the shape of a d…