4 papers
PRISM: PRior-guided Imagination Sampling in world Models
Yuhai Wang, Jiawei Xia, Rongxuan Zhou +5
Latent world models learn representations that enable them to predict how actions change the environment - a capability we call physical intuition. We find that these same represen…
NeRF-Based Transparent Object Grasping Enhanced by Shape Priors
Yi Han, Zixin Lin, Dongjie Li +3
Transparent object grasping remains a persistent challenge in robotics, largely due to the difficulty of acquiring precise 3D information. Conventional optical 3D sensors struggle…
Robo-GS: A Physics Consistent Spatial-Temporal Model for Robotic Arm with Hybrid Representation
Haozhe Lou, Yurong Liu, Yike Pan +9
Real2Sim2Real plays a critical role in robotic arm control and reinforcement learning, yet bridging this gap remains a significant challenge due to the complex physical properties…
An Onboard Framework for Staircases Modeling Based on Point Clouds
Chun Qing, Rongxiang Zeng, Xuan Wu +2
The detection of traversable regions on staircases and the physical modeling constitutes pivotal aspects of the mobility of legged robots. This paper presents an onboard framework…