30 citations · 206 across the 67 of their papers we have counts for
68 papers
FootQuery: Future-Touchdown-Guided Retrieval from Depth History for Perceptive Humanoid Locomotion
Tao Dong, Jia Yu, Yuxuan Fan +5
Humanoid locomotion over complex terrain requires anticipating footholds that may no longer be visible at touchdown. Limited camera coverage and self-occlusion make it necessary to…
Try Once, Then Optimal: De-Redundified Procedure Memory for Cross-Episode Exploration Amortization
Haizhou Ge, Haochen Ouyang, Zhixing Chen +6
Manipulating objects with hidden internal state, such as a latched microwave, forces a robot to probe before it can act. Yet a robot that has solved an instance once re-runs the sa…
When Video Misreads: Closed-Loop Distillation of Reading Heuristics for Exploratory Manipulation Trace QA
Haizhou Ge, Yufei Jia, Yue Li +5
Exploratory manipulation often turns an apparent failed attempt into the key evidence for what to do next. For example, a robot pulls a locked cabinet drawer, fails, and only succe…
AirDreamer: Generalist Drone Navigation with World Models
Zian Liu, Andong Yang, Chunkai Yang +3
Navigating a drone in unseen and cluttered environments requires reliable generalization to unseen scene layouts and understanding of environmental structure relative to the robot'…
UniLab: A Heterogeneous Architecture for Robot RL Beyond GPU-Dominant Paradigms
Yufei Jia, Zhanxiang Cao, Mingrui Yu +48
Simulation-based RL for contemporary robot control is increasingly organized around GPU-resident simulation: physics, rollout collection, and learning are placed on a single GPU-ce…
NORM-Nav: Zero-Shot Mobile Robot Navigation with Natural Language Behavioral Constraints
Dongjie Huo, Junhui Wang, Chao Gao +3
Mobile robots operating in human-centered environments must generate not only collision-free paths but also trajectories that follow local behavioral conventions. Conventional cost…
Let Robots Feel Your Touch: Visuo-Tactile Cortical Alignment for Embodied Mirror Resonance
Tianfang Zhu, Ning An, Rui Wang +4
Observing touch on another's body can elicit corresponding tactile sensations in the observer, a phenomenon termed mirror touch that supports empathy and social perception. This vi…
GS-Playground: A High-Throughput Photorealistic Simulator for Vision-Informed Robot Learning
Yufei Jia, Heng Zhang, Ziheng Zhang +39
Embodied AI research is undergoing a shift toward vision-centric perceptual paradigms. While massively parallel simulators have catalyzed breakthroughs in proprioception-based loco…
A 26-Gram Tailless Butterfly-Inspired Flapping-Wing Robot with Onboard Attitude Control
Weibin Gu, Chenrui Feng, Lian Liu +7
Butterfly-inspired flapping-wing robots use broad compliant wings and low-frequency actuation, but pronounced wingbeat-synchronous body dynamics and time-varying inertia complicate…
FGGS-LiDAR: Ultra-Fast, GPU-Accelerated Simulation from General 3DGS Models to LiDAR
Junzhe Wu, Yufei Jia, Yiyi Yan +6
While 3D Gaussian Splatting (3DGS) has emerged as a strong representation for photorealistic rendering, its vast ecosystem of assets remains difficult to use for high-performance L…
FILIC: Dual-Loop Force-Guided Imitation Learning with Impedance Torque Control for Contact-Rich Manipulation Tasks
Haizhou Ge, Yufei Jia, Zheng Li +6
Many contact-rich manipulation tasks require precise force regulation. However, most imitation learning (IL) policies remain position-centric and lack explicit force awareness, and…
Locate n' Rotate: Two-stage Openable Part Detection with Foundation Model Priors
Siqi Li, Xiaoxue Chen, Haoyu Cheng +3
Detecting the openable parts of articulated objects is crucial for downstream applications in intelligent robotics, such as pulling a drawer. This task poses a multitasking challen…
RGM: Reconstructing High-fidelity 3D Car Assets with Relightable 3D-GS Generative Model from a Single Image
Xiaoxue Chen, Jv Zheng, Hao Huang +8
The generation of high-quality 3D car assets is essential for various applications, including video games, autonomous driving, and virtual reality. Current 3D generation methods ut…
Active Neural Mapping at Scale
Zijia Kuang, Zike Yan, Hao Zhao +2
We introduce a NeRF-based active mapping system that enables efficient and robust exploration of large-scale indoor environments. The key to our approach is the extraction of a gen…
Camera Relocalization in Shadow-free Neural Radiance Fields
Shiyao Xu, Caiyun Liu, Yuantao Chen +5
Camera relocalization is a crucial problem in computer vision and robotics. Recent advancements in neural radiance fields (NeRFs) have shown promise in synthesizing photo-realistic…
Blending Distributed NeRFs with Tri-stage Robust Pose Optimization
Baijun Ye, Caiyun Liu, Xiaoyu Ye +6
Due to the limited model capacity, leveraging distributed Neural Radiance Fields (NeRFs) for modeling extensive urban environments has become a necessity. However, current distribu…
Block-Map-Based Localization in Large-Scale Environment
Yixiao Feng, Zhou Jiang, Yongliang Shi +4
Accurate localization is an essential technology for the flexible navigation of robots in large-scale environments. Both SLAM-based and map-based localization will increase the com…
TeleAware Robot: Designing Awareness-augmented Telepresence Robot for Remote Collaborative Locomotion
Ruyi Li, Yaxin Zhu, Min Liu +7
Telepresence robots can be used to support users to navigate an environment remotely and share the visiting experience with their social partners. Although such systems allow users…
PreAfford: Universal Affordance-Based Pre-Grasping for Diverse Objects and Environments
Kairui Ding, Boyuan Chen, Ruihai Wu +8
Robotic manipulation with two-finger grippers is challenged by objects lacking distinct graspable features. Traditional pre-grasping methods, which typically involve repositioning…
Adaptive Surface Normal Constraint for Geometric Estimation from Monocular Images
Xiaoxiao Long, Yuhang Zheng, Yupeng Zheng +6
We introduce a novel approach to learn geometries such as depth and surface normal from images while incorporating geometric context. The difficulty of reliably capturing geometric…
Arm-Constrained Curriculum Learning for Loco-Manipulation of the Wheel-Legged Robot
Zifan Wang, Yufei Jia, Lu Shi +6
Incorporating a robotic manipulator into a wheel-legged robot enhances its agility and expands its potential for practical applications. However, the presence of potential instabil…
More Than Routing: Joint GPS and Route Modeling for Refine Trajectory Representation Learning
Zhipeng Ma, Zheyan Tu, Xinhai Chen +6
Trajectory representation learning plays a pivotal role in supporting various downstream tasks. Traditional methods in order to filter the noise in GPS trajectories tend to focus o…
"It Must Be Gesturing Towards Me": Gesture-Based Interaction between Autonomous Vehicles and Pedestrians
Xiang Chang, Zihe Chen, Xiaoyan Dong +6
Interacting with pedestrians understandably and efficiently is one of the toughest challenges faced by autonomous vehicles (AVs) due to the limitations of current algorithms and ex…
Understanding Human-AI Collaboration in Music Therapy Through Co-Design with Therapists
Jingjing Sun, Jingyi Yang, Guyue Zhou +2
The rapid development of musical AI technologies has expanded the creative potential of various musical activities, ranging from music style transformation to music generation. How…