6 papers
ReFPO: Reflow Regularization for Flow Matching Policy Gradients
Ge Wang, Yibo Peng, Fan Feng +10
We present Reflow-regularized Flow Matching Policy Gradients (ReFPO), a simple online RL method that adds explicit Reflow regularization to FPO for efficient flow-based control. We…
MimicIK: Real-Time Generative Inverse Kinematics from Teleoperation with FK Consistency
Jiahao Yang, Shenhao Yan, Fan Feng +5
Inverse kinematics (IK) remains a critical bottleneck for real-time robot manipulation. Classical numerical solvers achieve high geometric precision but often suffer from discontin…
Acting While Understanding: Asynchronous Semantic-Action Decoupling for Real-Time Vision-Language-Action Models
Shenhao Yan, Ge Wang, Qi Liu +7
Vision-Language-Action models (VLAs) have demonstrated strong task understanding and generalization in robotic manipulation, yet the high computational cost of full-model inference…
KoopmanFlow: Spectrally Decoupled Generative Control Policy via Koopman Structural Bias
Chengsi Yao, Ge Wang, Kai Kang +9
Generative Control Policies (GCPs) show immense promise in robotic manipulation but struggle to simultaneously model stable global motions and high-frequency local corrections. Whi…
HandSCS: Structural Coordinate Space for Animatable Hand Gaussian Splatting
Yilan Dong, Wenqing Wang, Qing Wang +5
Photorealistic and animatable hand avatars are essential for applications such as AR/VR, gaming, and telepresence. Recent 3D Gaussian Splatting (3DGS) based avatar methods enable r…
STaR: Seamless Spatial-Temporal Aware Motion Retargeting with Penetration and Consistency Constraints
Xiaohang Yang, Qing Wang, Jiahao Yang +2
Motion retargeting seeks to faithfully replicate the spatio-temporal motion characteristics of a source character onto a target character with a different body shape. Apart from mo…