8 papers
A Scalable Whole-body Motion Transfer via Implicit Kinodynamic Motion Retargeting
Xingyu Chen, Hanyu Wu, Sikai Wu +7
Human-to-humanoid imitation learning presents a promising pathway to address the severe data scarcity bottleneck in robotics by utilizing abundant, large-scale human motion collect…
FutureNav: Unified World-Action Modeling for Vision-and-Language Navigation
Lingfeng Zhang, Zeying Gong, Xiaoshuai Hao +7
Vision-and-language navigation (VLN) in continuous environments requires an agent to ground instructions in egocentric observations while maintaining spatial understanding across l…
VAIC: Vision-Guided Humanoid Agile Object Interaction Control via Decoupled Commands
Dongting Li, Qianyang Wu, Xingyu Chen +9
Humanoid robots hold immense potential for real-world assistance, yet agile interaction with objects in unstructured environments demands tightly coupled whole-body coordination. D…
HAIC: Humanoid Agile Object Interaction Control via Dynamics-Aware World Model
Dongting Li, Xingyu Chen, Qianyang Wu +10
Humanoid robots show promise for complex whole-body tasks in unstructured environments. Although Human-Object Interaction (HOI) has advanced, most methods focus on fully actuated o…
Choose What to Manipulate: Revealing Data Scaling Laws in Bounding-Box Guided Policies for Semantic Manipulation
Yihao Wu, Jinming Ma, Junbo Tan +5
Diffusion-based policies generalize poorly in semantic manipulation, a key obstacle to real-world deployment, because text-only instructions cannot reliably steer the policy toward…
Learning Diverse Skills for Behavior Models with Mixture of Experts
Wangtian Shen, Jinming Ma, Mingliang Zhou +1
Imitation learning has demonstrated strong performance in robotic manipulation by learning from large-scale human demonstrations. While existing models excel at single-task learnin…