14 papers
PatternDex: Learning Interaction Patterns to Guide Reinforcement Learning of Bimanual Dexterous Manipulation of Articulated Objects
David Minkwan Kim, Runfa Blark Li, Beckham Po-Ju Lee +2
In this paper, we develop a method that enables bimanual dexterous hands to manipulate articulated objects with a high success rate without suffering from an embodiment gap. We obs…
OpenBelief-Nav: Evidence-Preserving Object Memory for Open-Vocabulary Language-Guided Navigation
Dinh Tuan Nguyen, Anh Dao, Phuong Nam Dang +4
Open-vocabulary 3D scene graphs provide compact semantic memory for language-guided navigation, but mapped objects are often exposed through a single fused feature or committed sem…
HumanoidVLN: A Physics-Grounded Simulator and Benchmark for Vision-Language Navigation Across Diverse Humanoid Embodiments
Quan-Dung Pham, Anh Dao, The-Anh Nguyen +8
Vision-Language Navigation (VLN) for humanoid robots poses challenges existing benchmarks fail to address: bipedal locomotion imposes physical constraints absent from wheeled agent…
Unified Agent: Managing Interactions across Devices
Xinshuang Liu, Runfa Blark Li, Shaoxiu Wei +2
As capabilities rapidly increase, AI agents can move from running inside one app to acting across a user's devices over time. Yet existing agent systems still fall short in this sc…
GaussianSelector: Lightweight Human-Guided Object Selection in 3D Gaussian Splatting with Graph Optimization
Baihan Yang, Tiexin Li, Yuheng Liu +4
Selecting a complete 3D object from a reconstructed scene with minimal user effort is essential for practical scene editing and embodied interaction. Existing 3DGS-based methods ei…
DexFuture: Hierarchical Future-State Visuomotor Targeting for Bimanual Dexterous Tool Use
Runfa Blark Li, Kuang-Ting Tu, Nikola Raicevic +6
Bimanual dexterous tool use remains challenging for robots due to high-dimensional hand configurations and complex hand-tool-object dynamics and contact. Most existing control poli…
PhysGraph: Physically-Grounded Graph-Transformer Policies for Bimanual Dexterous Hand-Tool-Object Manipulation
Runfa Blark Li, David Kim, Xinshuang Liu +7
Bimanual dexterous manipulation for tool use remains a formidable challenge in robotics due to the high-dimensional state space and complicated contact dynamics. Existing methods n…
Score-Regularized Joint Sampling with Importance Weights for Flow Matching
Xinshuang Liu, Runfa Blark Li, Shaoxiu Wei +1
Flow matching models effectively represent complex distributions, yet estimating expectations of functions of their outputs remains challenging under limited sampling budgets. Inde…
Image-Conditioned 3D Gaussian Splat Quantization
Xinshuang Liu, Runfa Blark Li, Keito Suzuki +1
3D Gaussian Splatting (3DGS) has attracted considerable attention for enabling high-quality real-time rendering. Although 3DGS compression methods have been proposed for deployment…
OpenHuman4D: Open-Vocabulary 4D Human Parsing
Keito Suzuki, Bang Du, Runfa Blark Li +5
Understanding dynamic 3D human representation has become increasingly critical in virtual and extended reality applications. However, existing human part segmentation methods are c…
DynaGSLAM: Real-Time Gaussian-Splatting SLAM for Online Rendering, Tracking, Motion Predictions of Moving Objects in Dynamic Scenes
Runfa Blark Li, Mahdi Shaghaghi, Keito Suzuki +8
Simultaneous Localization and Mapping (SLAM) is one of the most important environment-perception and navigation algorithms for computer vision, robotics, and autonomous cars/drones…
Open-Vocabulary Semantic Part Segmentation of 3D Human
Keito Suzuki, Bang Du, Girish Krishnan +3
3D part segmentation is still an open problem in the field of 3D vision and AR/VR. Due to limited 3D labeled data, traditional supervised segmentation methods fall short in general…
GlossGau: Efficient Inverse Rendering for Glossy Surface with Anisotropic Spherical Gaussian
Bang Du, Runfa Blark Li, Chen Du +1
The reconstruction of 3D objects from calibrated photographs represents a fundamental yet intricate challenge in the domains of computer graphics and vision. Although neural recons…
SplatSDF: Boosting SDF-NeRF via Architecture-Level Fusion with Gaussian Splats
Runfa Blark Li, Keito Suzuki, Bang Du +3
Signed distance-radiance field (SDF-NeRF) is a promising environment representation that offers both photo-realistic rendering and geometric reasoning such as proximity queries for…