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OASIS: Observation-Action Space Alignment via SE(3) Trajectory Prediction for Robotic Manipulation
Xinzhe Chen, Sihua Ren, Liqi Huang +5
Recent vision-language-action (VLA) models and world action models (WAMs) advance robotic manipulation by enriching intermediate representations with auxiliary spatial features or…
AffordSim: A Scalable Data Generator and Benchmark for Affordance-Aware Robotic Manipulation
Mingyang Li, Haofan Xu, Haowen Sun +10
Many everyday robot manipulation skills are affordance-dependent, with success determined by whether the robot contacts the functional object region required by the subsequent acti…
Toward Reliable Sim-to-Real Predictability for MoE-based Robust Quadrupedal Locomotion
Tianyang Wu, Hanwei Guo, Yuhang Wang +6
Reinforcement learning has shown strong promise for quadrupedal agile locomotion, even with proprioception-only sensing. In practice, however, sim-to-real gap and reward overfittin…
DexDiff: Towards Extrinsic Dexterity Manipulation of Ungraspable Objects in Unrestricted Environments
Chengzhong Ma, Houxue Yang, Hanbo Zhang +5
Grasping large and flat objects (e.g. a book or a pan) is often regarded as an ungraspable task, which poses significant challenges due to the unreachable grasping poses. Previous…