12 papers
Toward Efficient Agents: Memory, Tool learning, and Planning
Xiaofang Yang, Lijun Li, Heng Zhou +12
Recent years have witnessed increasing interest in extending large language models into agentic systems. While the effectiveness of agents has continued to improve, efficiency, whi…
Trans2Occ: Voxel Occupancy Estimation and Grasp for Transparent Objects from Simulation to Reality
Yixuan Yang, Sha Zhang, Rui Li +12
Transparent objects remain challenging for robotic perception due to unreliable depth sensing caused by refraction and reflection. While prior approaches rely on multi-view reconst…
TouchGuide: Inference-Time Steering of Visuomotor Policies via Touch Guidance
Zhemeng Zhang, Jiahua Ma, Xincheng Yang +13
Fine-grained and contact-rich manipulation remain challenging for robots, largely due to the underutilization of tactile feedback. To address this, we introduce TouchGuide, a novel…
ComSim: Building Scalable Real-World Robot Data Generation via Compositional Simulation
Yiran Qin, Jiahua Ma, Li Kang +11
Recent advancements in foundational models, such as large language models and world models, have greatly enhanced the capabilities of robotics, enabling robots to autonomously perf…
Referring-Aware Visuomotor Policy Learning for Closed-Loop Manipulation
Jiahua Ma, Yiran Qin, Xin Wen +5
This paper addresses a fundamental problem of visuomotor policy learning for robotic manipulation: how to enhance robustness in out-of-distribution execution errors or dynamically…
CoEnv: Driving Embodied Multi-Agent Collaboration via Compositional Environment
Li Kang, Yutao Fan, Rui Li +11
Multi-agent embodied systems hold promise for complex collaborative manipulation, yet face critical challenges in spatial coordination, temporal reasoning, and shared workspace awa…