5 papers
Grasp-Oriented Non-Prehensile Manipulation via Learning a Graspability Field
Licheng Zhong, Gim Hee Lee
Non-prehensile manipulation is often used as a preparatory step for robotic grasping, yet existing approaches typically require a predefined target object pose. In practice, howeve…
MipSLAM: Alias-Free Gaussian Splatting SLAM
Yingzhao Li, Yan Li, Shixiong Tian +3
This paper introduces MipSLAM, a frequency-aware 3D Gaussian Splatting (3DGS) SLAM framework capable of high-fidelity anti-aliased novel view synthesis and robust pose estimation u…
SPIRAL: Self-Evolving Action-Conditioned Video Generation via Reflective Planning Agents
Yu Yang, Yue Liao, Jianbiao Mei +11
Long-horizon action-conditioned video generation aims to synthesize temporally coherent videos that follow complex action instructions over extended horizons, requiring procedural…
TeamHOI: Learning a Unified Policy for Cooperative Human-Object Interactions with Any Team Size
Stefan Lionar, Gim Hee Lee
Physics-based humanoid control has achieved remarkable progress in enabling realistic and high-performing single-agent behaviors, yet extending these capabilities to cooperative hu…
From Obstacles to Etiquette: Robot Social Navigation with VLM-Informed Path Selection
Zilin Fang, Anxing Xiao, David Hsu +1
Navigating socially in human environments requires more than satisfying geometric constraints, as collision-free paths may still interfere with ongoing activities or conflict with…