13 citations · 14 across the 7 of their papers we have counts for
7 papers
MatchingPolicy: Correspondence-Aware Policy Enables Cross-Object In-Context Learning
Qijin She, Hanyang Yu, Zeming Li +1
In-context imitation learning enables few-shot policy generalization but struggles to maintain performance on unseen objects and novel scenarios. To address this, we introduce Matc…
Grasp, Handover, Rotate: Bimanual Object Reorientation via Compositional Diffusion and Energy-Based Optimization
Wun Lam Yeung, Wenjun Liu, Yui Cheung Yu +5
Bimanual object reorientation - picking an object, handing it over between two arms, and placing it in a desired target pose - is valuable when direct placement from the initial gr…
LLM-enhanced Scene Graph Learning for Household Rearrangement
Wenhao Li, Zhiyuan Yu, Qijin She +5
The household rearrangement task involves spotting misplaced objects in a scene and accommodate them with proper places. It depends both on common-sense knowledge on the objective…
Learning Cross-hand Policies for High-DOF Reaching and Grasping
Qijin She, Shishun Zhang, Yunfan Ye +2
Reaching-and-grasping is a fundamental skill for robotic manipulation, but existing methods usually train models on a specific gripper and cannot be reused on another gripper. In t…
Learning Dual-arm Object Rearrangement for Cartesian Robots
Shishun Zhang, Qijin She, Wenhao Li +4
This work focuses on the dual-arm object rearrangement problem abstracted from a realistic industrial scenario of Cartesian robots. The goal of this problem is to transfer all the…
Learning High-DOF Reaching-and-Grasping via Dynamic Representation of Gripper-Object Interaction
Qijin She, Ruizhen Hu, Juzhan Xu +3
We approach the problem of high-DOF reaching-and-grasping via learning joint planning of grasp and motion with deep reinforcement learning. To resolve the sample efficiency issue i…
Online 3D Bin Packing with Constrained Deep Reinforcement Learning
Hang Zhao, Qijin She, Chenyang Zhu +2
We solve a challenging yet practically useful variant of 3D Bin Packing Problem (3D-BPP). In our problem, the agent has limited information about the items to be packed into the bi…