24 citations · 47 across the 39 of their papers we have counts for
14 papers · 1 filter
Hand2Robot: Object-Centric 4D Hand Reconstruction from Human Demonstrations for Robotics
Zetao Du, Weiqing Wang, Hanbing Zhang +4
Human demonstrations can capture task-relevant manipulation without using the target robot, but the recorded hand motions cannot directly serve as robot action supervision. Hand re…
CFG-Policy: Unified Diffusion Policy Learning Framework via Classifier-free Guidance
Shutong Ding, Zhaoyang Liu, Yimiao Zhou +3
Diffusion policies are increasingly used in robotic control and manipulation, vision-language-action models, and world-model-based agents. Their ability to represent multimodal act…
From Social Reasoning to Embodied Interaction: An Agentic Framework for Social Robots
Ziyu Cheng, Yuewen Guo, Zhirui Liu +5
Natural face-to-face human--robot interaction requires a robot to understand an evolving social situation, decide when to engage, and express its intent through coordinated physica…
FASTER: Fast Adjoint Stochastic Transport for Endpoint Refinement in Reward-Guided Image Editing
Yimiao Zhou, Zejia Zhong, Jingya Wang +1
Reward-guided image editing at test time seeks to improve a specified reward while preserving source content and visual plausibility. Many existing approaches optimize candidates t…
EmbodiRSI: Recursive Self-Improvement for Data-Efficient Robot Adaptation
Haoran Lang, Haotao Lu, Shiyu Sang +6
Adapting robot manipulation policies to new tasks and environments remains highly data-intensive, while the data needed for further improvement depends on the policy's current capa…
In-Context Forcing: Uncovering Context Effects in Autoregressive Video Diffusion
Lingxiao Yang, Liu Liu, Moran Li +4
Current few-step autoregressive video diffusion models depend on previous fully denoised clean frames as context for all denoising steps of the current frame. However, these clean…
ViTacWorld: Scaling Visuo-Tactile World Models for Contact-Rich Robot Manipulation
Yunao Huang, Shiyu Sang, Haotao Lu +6
Contact-rich robot manipulation requires physical interaction cues that are often invisible to cameras, making tactile sensing essential for robust control. However, scaling visuo-…
Super Star: Towards Streaming Real-time Interactive Agents for Digital Humans
Wentao Jiang, Youchen Xie, Haidi Fan +4
Existing co-speech gesture generation methods are predominantly studied in offline settings, where gestures are synthesized from complete speech segments. However, interactive digi…
TactiDex: A Real-World Tactile-Guided Benchmark for Human-Like Dexterous Manipulation
Suting Ni, Hanbing Zhang, Zhenyu Wei +4
Tactile feedback is fundamental to Hand-Object Interaction (HOI), governing contact formation, force regulation, and stable manipulation, making it essential for achieving true hum…
Steering Generative Reinforcement Learning into Stable Robotic Controller
Yixuan Wang, Shutong Ding, Ke Hu +3
Diffusion and flow-based generative policies provide a powerful policy class for reinforcement learning by inducing rich stochastic exploration through iterative action generation.…
GenPO++: Generative Policy Optimization with Jacobian-free Likelihood Ratios
Ke Hu, Shutong Ding, Panxin Tao +2
Generative policies provide expressive and multimodal action distributions, making them attractive for reinforcement learning (RL) in complex continuous-control tasks. Among them,…
Conformal Reliability: A New Evaluation Metric for Conditional Generation
Yachen Gao, Xinwei Sun, Yikai Wang +4
Conditional generative models have recently achieved remarkable success in various applications. However, a suitable metric for evaluating the reliability of these models, which ta…
DiscoForcing: A Unified Framework for Real-Time Audio-Driven Character Control with Diffusion Forcing
Kaiyang Ji, Bingsheng Qian, Binghuan Wu +3
We study real-time audio-responsive character control as a deployment-faithful problem: strictly causal, bounded-latency streaming that must generate coherent full-body motion at i…
UniHM: Unified Dexterous Hand Manipulation with Vision Language Model
Zhenhao Zhang, Jiaxin Liu, Ye Shi +1
Planning physically feasible dexterous hand manipulation is a central challenge in robotic manipulation and Embodied AI. Prior work typically relies on object-centric cues or preci…