4 citations · 8 across the 9 of their papers we have counts for
4 papers · 1 filter
Masked Generative Motion Planning with Geometry-Guided Token Search
Lipeng Zhuang, Yingdong Ru, Shiyu Fan +3
Generative motion planners typically use learned trajectory priors for initial generation, while leaving test-time repair to local continuous refinement. We introduce Masked Genera…
FoldBack: Self-Correcting Masked Generative Policy for Long-Horizon Garment Folding
Lipeng Zhuang, Shiyu Fan, Yingdong Ru +4
We present FoldBack, a self-correcting masked generative policy for long-horizon garment folding. Existing long-trajectory policies may continue after a missed or slipped grasp eve…
Masked Generative Policy for Robotic Control
Lipeng Zhuang, Shiyu Fan, Florent P. Audonnet +4
We present Masked Generative Policy (MGP), a novel framework for visuomotor imitation learning. We represent actions as discrete tokens, and train a conditional masked transformer…
Flat'n'Fold: A Diverse Multi-Modal Dataset for Garment Perception and Manipulation
Lipeng Zhuang, Shiyu Fan, Yingdong Ru +3
We present Flat'n'Fold, a novel large-scale dataset for garment manipulation that addresses critical gaps in existing datasets. Comprising 1,212 human and 887 robot demonstrations…