4 papers · 1 filter
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…
MoMaStage: Skill-State Graph Guided Planning and Closed-Loop Execution for Long-Horizon Indoor Mobile Manipulation
Chenxu Li, Zixuan Chen, Yetao Li +5
Long-horizon indoor mobile manipulation (MoMa) requires robots to execute extended navigation-manipulation sequences whose feasibility depends on state changes induced by preceding…