3 citations · 4 across the 15 of their papers we have counts for
4 papers · 1 filter
Fetch My Beer: Synthetic-to-real Hierarchical Policy for Smooth Pick-and-place
Yingyue Li, Chenyangguang Zhang, Ruida Zhang +3
Many real-world robotic applications require dynamically sensitive manipulation, where success depends not only on reaching a target state but on maintaining stable object dynamics…
3DWay: Generalizing Robot Manipulation via 3D Consistent Waypoints
Ziqin Huang, Yingyue Li, Chenyangguang Zhang +6
Intermediate representations are key to bridging the modality gap between generalizable manipulation policies and large-scale pretrained vision-language models (VLMs). Among these,…
Functional-SLAM: Interaction-Aware Mapping with Online Functional Scene Graphs
Xinggang Hu, Chenyangguang Zhang, Zihan Zhu +3
Existing SLAM systems lack modeling of the functional relations required for fine-grained robotic interaction. Functional 3D scene graphs can represent relations between objects an…
Hierarchical and Holistic Open-Vocabulary Functional 3D Scene Graphs for Indoor Spaces
Xinggang Hu, Chenyangguang Zhang, Alexandros Delitzas +4
Functional 3D scene graphs offer a versatile and flexible representation for 3D scene understanding and robotic manipulation, defined by object nodes, interactive elements, and fun…