8 papers
FACT: Failure-Aware Causal Training for World-Action Models
Quanquan Peng, Yutong Liang, Rui Yan +2
Recent world-action models (WAMs) show that co-training policies with future prediction can provide physical priors for action generation. Building on the future-prediction ability…
ConTrack: Constrained Hand Motion Tracking with Adaptive Trade-off Control
Yutong Liang, Quanquan Peng, Ri-Zhao Qiu +1
Human demonstrations provide strong priors for robot manipulation, yet it is non-trivial to transfer them to execute on real robots due to the kinematic gap. In dexterous manipulat…
Cross-Hand Latent Representation for Vision-Language-Action Models
Guangqi Jiang, Yutong Liang, Jianglong Ye +6
Dexterous manipulation is essential for real-world robot autonomy, mirroring the central role of human hand coordination in daily activity. Humans rely on rich multimodal perceptio…
DexterCap: An Affordable and Automated System for Capturing Dexterous Hand-Object Manipulation
Yutong Liang, Shiyi Xu, Yulong Zhang +3
Capturing fine-grained hand-object interactions is challenging due to severe self-occlusion from closely spaced fingers and the subtlety of in-hand manipulation motions. Existing o…
GSWorld: Closed-Loop Photo-Realistic Simulation Suite for Robotic Manipulation
Guangqi Jiang, Haoran Chang, Ri-Zhao Qiu +6
This paper presents GSWorld, a robust, photo-realistic simulator for robotics manipulation that combines 3D Gaussian Splatting with physics engines. Our framework advocates "closin…
Sensor optimization for urban wind estimation with cluster-based probabilistic framework
Yutong Liang, Chang Hou, Guy Y. Cornejo Maceda +8
We propose a physics-informed machine-learned framework for sensor-based flow estimation for drone trajectories in complex urban terrain. The input is a rich set of flow simulation…