7 papers
ST-VLA: Enabling 4D-Aware Spatiotemporal Understanding for General Robot Manipulation
You Wu, Zixuan Chen, Cunxu Ou +9
Robotic manipulation in open-world environments requires reasoning across semantics, geometry, and long-horizon action dynamics. Existing hierarchical Vision-Language-Action (VLA)…
AdaClearGrasp: Learning Adaptive Clearing for Zero-Shot Robust Dexterous Grasping in Densely Cluttered Environments
Zixuan Chen, Wenquan Zhang, Jing Fang +7
In densely cluttered environments, physical interference, visual occlusions, and unstable contacts often cause direct dexterous grasping to fail, while aggressive singulation strat…
RoTri-Diff: A Spatial Robot-Object Triadic Interaction-Guided Diffusion Model for Bimanual Manipulation
Zixuan Chen, Nga Teng Chan, Yiwen Hou +8
Bimanual manipulation is a fundamental robotic skill that requires continuous and precise coordination between two arms. While imitation learning (IL) is the dominant paradigm for…
ManiLong-Shot: Interaction-Aware One-Shot Imitation Learning for Long-Horizon Manipulation
Zixuan Chen, Chongkai Gao, Lin Shao +3
One-shot imitation learning (OSIL) offers a promising way to teach robots new skills without large-scale data collection. However, current OSIL methods are primarily limited to sho…
RoboHiMan: A Hierarchical Evaluation Paradigm for Compositional Generalization in Long-Horizon Manipulation
Yangtao Chen, Zixuan Chen, Nga Teng Chan +6
Enabling robots to flexibly schedule and compose learned skills for novel long-horizon manipulation under diverse perturbations remains a core challenge. Early explorations with en…
DeCo: Task Decomposition and Skill Composition for Zero-Shot Generalization in Long-Horizon 3D Manipulation
Zixuan Chen, Junhui Yin, Yangtao Chen +6
Generalizing language-conditioned multi-task imitation learning (IL) models to novel long-horizon 3D manipulation tasks is challenging. To address this, we propose DeCo (Task Decom…