1 citations · 1 across the 5 of their papers we have counts for
9 papers
Agent Priors-guided Policy Learning
Puming Jiang, Tianrun Hu, Haozhe Du +4
Robots that learn from a few demonstrations often require two forms of generalization. Compositional generalization recombines skills to solve new tasks, and skill generalization l…
Receding-Horizon Pushing with Composable Object-Centric Policies
Zhiyi Yuan, Tianrun Hu, Anxing Xiao +3
Non-prehensile manipulation is practical for relocating large, heavy, or geometrically ungraspable objects. Yet, long-horizon pushing of arbitrarily-shaped 3D objects couples three…
Hypothesis-driven Model Expansion under Uncertainty for Open-World Robot Planning
Anxing Xiao, Hanbo Zhang, Tianrun Hu +1
We consider an open-world planning setting in which service robots must operate in unknown environments with incomplete knowledge of objects and actions. Traditional closed-world a…
Visibility-Aware Mobile Grasping in Dynamic Environments
Tianrun Hu, Anxing Xiao, David Hsu +1
We consider mobile grasping in unknown and dynamic environments, where a robot must approach and grasp a target object using a camera with a limited field of view. This setting int…
MimicFunc: Imitating Tool Manipulation from a Single Human Video via Functional Correspondence
Chao Tang, Anxing Xiao, Yuhong Deng +5
Imitating tool manipulation from human videos offers an intuitive approach to teaching robots, while also providing a promising and scalable alternative to labor-intensive teleoper…
Chain-of-Action: Trajectory Autoregressive Modeling for Robotic Manipulation
Wenbo Zhang, Tianrun Hu, Hanbo Zhang +7
We present Chain-of-Action (CoA), a novel visuo-motor policy paradigm built upon Trajectory Autoregressive Modeling. Unlike conventional approaches that predict next step action(s)…
FUNCTO: Function-Centric One-Shot Imitation Learning for Tool Manipulation
Chao Tang, Anxing Xiao, Yuhong Deng +5
Learning tool use from a single human demonstration video offers a highly intuitive and efficient approach to robot teaching. While humans can effortlessly generalize a demonstrate…
Robi Butler: Multimodal Remote Interaction with a Household Robot Assistant
Anxing Xiao, Nuwan Janaka, Tianrun Hu +4
Imagine a future when we can Zoom-call a robot to manage household chores remotely. This work takes one step in this direction. Robi Butler is a new household robot assistant that…
ManiFoundation Model for General-Purpose Robotic Manipulation of Contact Synthesis with Arbitrary Objects and Robots
Zhixuan Xu, Chongkai Gao, Zixuan Liu +10
To substantially enhance robot intelligence, there is a pressing need to develop a large model that enables general-purpose robots to proficiently undertake a broad spectrum of man…