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cs.RO2026
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…
cs.RO2025
Can Real-to-Sim Approaches Capture Dynamic Fabric Behavior for Robotic Fabric Manipulation?
Yingdong Ru, Lipeng Zhuang, Zhuo He +2
This paper presents a rigorous evaluation of Real-to-Sim parameter estimation approaches for fabric manipulation in robotics. The study systematically assesses three state-of-the-a…
cs.RO2024
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…