5 citations · 5 across the 9 of their papers we have counts for
5 papers · 1 filter
Implicit Drifting Policy: One-Step Action Generation via Conditional Expert Geometry
Zemin Yang, Yaoyu He, Yiming Zhong +5
Generative action policies based on diffusion or flow matching excel in behavior cloning, yet their iterative sampling is prohibitive for high-frequency robot control. While recent…
FastGrasp: Learning-based Whole-Body Control Method for Fast Dexterous Grasping with Mobile Manipulators
Heng Tao, Yiming Zhong, Zemin Yang +1
Fast dexterous grasping while a mobile base remains in motion requires coordinated whole-body control and rapid adaptation to physical contact. We propose FastGrasp, a two-stage le…
From Noise to Intent: Anchoring Generative VLA Policies with Residual Bridges
Yiming Zhong, Yaoyu He, Zemin Yang +5
Bridging high-level semantic understanding with low-level physical control remains a persistent challenge in embodied intelligence, stemming from the fundamental spatiotemporal sca…
Affordance-R1: Reinforcement Learning for Generalizable Affordance Reasoning in Multimodal Large Language Model
Hanqing Wang, Shaoyang Wang, Yiming Zhong +7
Affordance grounding focuses on predicting the specific regions of objects that are associated with the actions to be performed by robots. It plays a vital role in the fields of hu…
FreqPolicy: Frequency Autoregressive Visuomotor Policy with Continuous Tokens
Yiming Zhong, Yumeng Liu, Chuyang Xiao +7
Learning effective visuomotor policies for robotic manipulation is challenging, as it requires generating precise actions while maintaining computational efficiency. Existing metho…