6 papers
RoMAN-Flow: Taming Autoregressive Normalizing Flows for Offline Reinforcement Learning in Robotic Manipulation
Shaoxuan Wang, Guangting Zheng, Rui Huang +4
Offline reinforcement learning improves robotic policies using previously collected data without further environment interaction. Yet prevalent diffusion- and flow-matching robot p…
LabDex: A Hierarchical Benchmark for Dexterous Manipulation in Laboratories
Zhipeng Tang, Sihang Chen, Sha Zhang +11
Autonomous laboratories hold great promise for accelerating scientific discovery. To achieve this vision, robots are supposed to dexterously manipulate diverse labware and instrume…
\textsc{Gen2Real}: Towards Demo-Free Dexterous Manipulation by Harnessing Generated Video
Kai Ye, Yuhang Wu, Shuyuan Hu +4
Dexterous manipulation remains a challenging robotics problem, largely due to the difficulty of collecting extensive human demonstrations for learning. In this paper, we introduce…
Grasp What You Want: Embodied Dexterous Grasping System Driven by Your Voice
Junliang Li, Kai Ye, Haolan Kang +6
In recent years, as robotics has advanced, human-robot collaboration has gained increasing importance. However, current robots struggle to fully and accurately interpret human inte…
ClickAttention: Click Region Similarity Guided Interactive Segmentation
Long Xu, Shanghong Li, Yongquan Chen +3
Interactive segmentation algorithms based on click points have garnered significant attention from researchers in recent years. However, existing studies typically use sparse click…
Structured Click Control in Transformer-based Interactive Segmentation
Long Xu, Yongquan Chen, Rui Huang +2
Click-point-based interactive segmentation has received widespread attention due to its efficiency. However, it's hard for existing algorithms to obtain precise and robust response…