3 papers
cs.RO2026
STEAM: Self-Supervised Temporal Ensemble Advantage Modeling for Real-World Robot Learning
Zhihao Liu, Qiuyi Gu, Yitao Wang +16
Real-world robot learning increasingly relies on heterogeneous data, but demonstrations and rollouts often mix useful progress with stalls, corrections, and suboptimal behavior. Ef…
cs.RO2026
ArtiSG: Functional 3D Scene Graph Construction via Human-demonstrated Articulated Objects Manipulation
Qiuyi Gu, Yuze Sheng, Jincheng Yu +7
3D scene graphs have empowered robots with semantic understanding for navigation and planning. However, current functional scene graphs primarily focus on static element detection,…
cs.RO2025
MR-COGraphs: Communication-efficient Multi-Robot Open-vocabulary Mapping System via 3D Scene Graphs
Qiuyi Gu, Zhaocheng Ye, Jincheng Yu +7
Collaborative perception in unknown environments is crucial for multi-robot systems. With the emergence of foundation models, robots can now not only perceive geometric information…