5 papers · 2 filters
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…