5 papers
Towards Affordance-Aware Robotic Dexterous Grasping with Human-like Priors
Haoyu Zhao, Linghao Zhuang, Xingyue Zhao +10
A dexterous hand capable of generalizable grasping objects is fundamental for the development of general-purpose embodied AI. However, previous methods focus narrowly on low-level…
SMAP: Self-supervised Motion Adaptation for Physically Plausible Humanoid Whole-body Control
Haoyu Zhao, Sixu Lin, Qingwei Ben +5
This paper presents a novel framework that enables real-world humanoid robots to maintain stability while performing human-like motion. Current methods train a policy which allows…
TeleOpBench: A Simulator-Centric Benchmark for Dual-Arm Dexterous Teleoperation
Hangyu Li, Qin Zhao, Haoran Xu +10
Teleoperation is a cornerstone of embodied-robot learning, and bimanual dexterous teleoperation in particular provides rich demonstrations that are difficult to obtain with fully a…
Towards Synthesized and Editable Motion In-Betweening Through Part-Wise Phase Representation
Minyue Dai, Ke Fan, Bin Ji +5
Styled motion in-betweening is crucial for computer animation and gaming. However, existing methods typically encode motion styles by modeling whole-body motions, often overlooking…
Estimation of Playable Piano Fingering by Pitch-difference Fingering Matching Model
Haoyue Zhao, Xin Guan, Qiang Li
The existing piano fingering labeling statistical models usually consider the constraints among the fingers and the correlation between fingering and notes, and rarely include the…