6 papers
CLAR: Learning 3D Representations for Robotic Manipulation by Fusing Masked Reconstruction with Multi-Level Contrastive Alignment
Wenbo Cui, Chengyang Zhao, Yuhui Chen +4
The spatial information inherent in 3D point clouds is crucial for robotic manipulation. However, existing 3D pre-training methods face a fundamental trade-off: Masked Autoencoding…
FetchBot: Learning Generalizable Object Fetching in Cluttered Scenes via Zero-Shot Sim2Real
Weiheng Liu, Yuxuan Wan, Jilong Wang +7
Generalizable object fetching in cluttered scenes remains a fundamental and application-critical challenge in embodied AI. Closely packed objects cause inevitable occlusions, makin…
Advancing Object Goal Navigation Through LLM-enhanced Object Affinities Transfer
Mengying Lin, Shugao Liu, Dingxi Zhang +4
Object-goal navigation requires mobile robots to efficiently locate targets with visual and spatial information, yet existing methods struggle with generalization in unseen environ…
Cross-domain Random Pre-training with Prototypes for Reinforcement Learning
Xin Liu, Yaran Chen, Haoran Li +2
This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible. Unsupervised c…
ComSD: Balancing Behavioral Quality and Diversity in Unsupervised Skill Discovery
Xin Liu, Yaran Chen, Dongbin Zhao
This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible. Unsupervised s…
NeuronsGym: A Hybrid Framework and Benchmark for Robot Tasks with Sim2Real Policy Learning
Haoran Li, Shasha Liu, Mingjun Ma +3
The rise of embodied AI has greatly improved the possibility of general mobile agent systems. At present, many evaluation platforms with rich scenes, high visual fidelity and vario…