5 papers
RenderMatte: Exact-Alpha Rendering and Group-Relative Alignment for Image Matting
Zecheng Ren, Yafei Hu, Jianing Zhao +3
Image matting is an essential enabling technology for modern visual content production, where foreground extraction determines the realism and editability of downstream creation wo…
Efficient Sim-to-Real Transfer of World-Action Models from Synthetic Priors
Zixing Wang, Kausik Sivakumar, Jinghuan Shang +5
Bridging the sim-to-real gap is a core challenge in deploying learned manipulation policies. Sim-to-real learning is attractive because it can replace expensive real robot demonstr…
GaRLILEO: Gravity-aligned Radar-Leg-Inertial Enhanced Odometry
Chiyun Noh, Sangwoo Jung, Hanjun Kim +3
Deployment of legged robots for navigating challenging terrains (e.g., stairs, slopes, and unstructured environments) has gained increasing preference over wheel-based platforms. I…
EMPM: Embodied MPM for Modeling and Simulation of Deformable Objects
Yunuo Chen, Yafei Hu, Lingfeng Sun +3
Modeling deformable objects - especially continuum materials - in a way that is physically plausible, generalizable, and data-efficient remains challenging across 3D vision, graphi…
NovaFlow: Zero-Shot Manipulation via Actionable Flow from Generated Videos
Hongyu Li, Lingfeng Sun, Yafei Hu +4
Enabling robots to execute novel manipulation tasks zero-shot is a central goal in robotics. Most existing methods assume in-distribution tasks or rely on fine-tuning with embodime…