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ObstaDiff: Generalizable Diffusion Policy Learning via Obstacle-aware Representations
Jiawen Wang, Kevin Yao, Khalid Jawed
Imitation learning has achieved impressive results in robotic manipulation, yet most existing approaches assume clean backgrounds and lack explicit mechanisms for obstacle-aware mo…
Neural Control: Adjoint Learning Through Equilibrium Constraints
Dezhong Tong, Jiawen Wang, Hengyi Zhou +3
Many physical AI tasks require sequential implicit computation: at each step, boundary controls are applied, and the resulting configuration is obtained by solving an equilibrium p…
Vision-Guided Targeted Grasping and Vibration for Robotic Pollination in Controlled Environments
Jaehwan Jeong, Tuan-Anh Vu, Radha Lahoti +4
Robotic pollination offers a promising alternative to manual labor and bumblebee-assisted methods in controlled agriculture, where wind-driven pollination is absent and regulatory…
GauTOAO: Gaussian-based Task-Oriented Affordance of Objects
Jiawen Wang, Dingsheng Luo
When your robot grasps an object using dexterous hands or grippers, it should understand the Task-Oriented Affordances of the Object(TOAO), as different tasks often require attenti…
EHC-MM: Embodied Holistic Control for Mobile Manipulation
Jiawen Wang, Yixiang Jin, Jun Shi +5
Mobile manipulation typically entails the base for mobility, the arm for accurate manipulation, and the camera for perception. The principle of Distant Mobility, Close Grasping(DMC…