8 papers
SkillX: Unified Multi-Skill Policy Learning for Humanoid Soccer
Zhangchen Ye, Enxuan Ruan, Yifei Bao +10
Humanoid soccer is a challenging testbed for dynamic whole-body control, requiring robots to coordinate balance, locomotion, object interaction, and skill switching over long horiz…
Scale Up Strategically: Learning Compositional Generalization via Bias-Aware Evaluation and Data Collection for Robotic Manipulation
Yu Qi, Zhang Ye, Xinyi Xu +6
Compositional generalization is essential for robot to follow diverse instructions. However, pretrained policies are known to take shortcuts, deferring to salient cues rather than…
Pix2Act: Image-Space Manipulation Policies with Equivariant Augmentation
Haojie Huang, Linfeng Zhao, Haotian Liu +9
Representing manipulation actions as 2D trajectories in the camera plane provides a compact and interpretable basis for learning complex 3D manipulation policies. However, it also…
Action Map Policy: Learning 3D Closed-loop Manipulation via Pixel Classification
Haojie Huang, Zhang Ye, Linfeng Zhao +7
The action space poses a major challenge in robot learning, since it is often high-dimensional, can span long time horizons, and frequently admits multi-modal optimal solutions. A…
VolumeDP: Modeling Volumetric Representation for Manipulation Policy Learning
Tianxing Zhou, Feiyang Xue, Zhangchen Ye +3
Imitation learning is a prominent paradigm for robotic manipulation. However, existing visual imitation methods map 2D image observations directly to 3D action outputs, imposing a…
Translating Flow to Policy via Hindsight Online Imitation
Yitian Zheng, Zhangchen Ye, Weijun Dong +5
Recent advances in hierarchical robot systems leverage a high-level planner to propose task plans and a low-level policy to generate robot actions. This design allows training the…
Residual Rotation Correction using Tactile Equivariance
Yizhe Zhu, Zhang Ye, Boce Hu +4
Visuotactile policy learning augments vision-only policies with tactile input, facilitating contact-rich manipulation. However, the high cost of tactile data collection makes sampl…
CVT-Occ: Cost Volume Temporal Fusion for 3D Occupancy Prediction
Zhangchen Ye, Tao Jiang, Chenfeng Xu +2
Vision-based 3D occupancy prediction is significantly challenged by the inherent limitations of monocular vision in depth estimation. This paper introduces CVT-Occ, a novel approac…