4 papers
CQDC-Warp: GPU-Accelerated Differentiable Quasi-Dynamic Simulation for Contact-Rich Manipulation
Yanchen Ding, Jiayi Chen, Jianfeng Xu +3
Efficient synthesis of contact-rich manipulation trajectories is essential for downstream robot learning. Gradient-based planning offers a promising approach, but jointly optimizin…
MobileH2R: Learning Generalizable Human to Mobile Robot Handover Exclusively from Scalable and Diverse Synthetic Data
Zifan Wang, Ziqing Chen, Junyu Chen +6
This paper introduces MobileH2R, a framework for learning generalizable vision-based human-to-mobile-robot (H2MR) handover skills. Unlike traditional fixed-base handovers, this tas…
GenH2R: Learning Generalizable Human-to-Robot Handover via Scalable Simulation, Demonstration, and Imitation
Zifan Wang, Junyu Chen, Ziqing Chen +3
This paper presents GenH2R, a framework for learning generalizable vision-based human-to-robot (H2R) handover skills. The goal is to equip robots with the ability to reliably recei…
Semantic Complete Scene Forecasting from a 4D Dynamic Point Cloud Sequence
Zifan Wang, Zhuorui Ye, Haoran Wu +2
We study a new problem of semantic complete scene forecasting (SCSF) in this work. Given a 4D dynamic point cloud sequence, our goal is to forecast the complete scene corresponding…