6 papers · 1 filter
RoleMotion: A Large-Scale Dataset towards Robust Scene-Specific Role-Playing Motion Synthesis with Fine-grained Descriptions
Junran Peng, Yiheng Huang, Silei Shen +8
In this paper, we introduce RoleMotion, a large-scale human motion dataset that encompasses a wealth of role-playing and functional motion data tailored to fit various specific sce…
TabletopGen: Tabletop Scene Generation and Interactive Simulation for Robotic Manipulation
Ziqian Wang, Yonghao He, Licheng Yang +6
Simulation provides a low-cost, scalable pathway to large-scale robotic manipulation data collection. However, existing 3D scene generation methods can rarely be applied directly t…
VO-DP: Semantic-Geometric Adaptive Diffusion Policy for Vision-Only Robotic Manipulation
Zehao Ni, Yonghao He, Lingfeng Qian +7
In the context of imitation learning, visuomotor-based diffusion policy learning is one of the main directions in robotic manipulation. Most of these approaches rely on point cloud…
SIG-Chat: Spatial Intent-Guided Conversational Gesture Generation Involving How, When and Where
Yiheng Huang, Junran Peng, Silei Shen +11
The accompanying actions and gestures in dialogue are often closely linked to interactions with the environment, such as looking toward the interlocutor or using gestures to point…
InstaDA: Augmenting Instance Segmentation Data with Dual-Agent System
Xianbao Hou, Yonghao He, Zeyd Boukhers +4
Acquiring high-quality instance segmentation data is challenging due to the labor-intensive nature of the annotation process and significant class imbalances within datasets. Recen…
Efficient Task-specific Conditional Diffusion Policies: Shortcut Model Acceleration and SO(3) Optimization
Haiyong Yu, Yanqiong Jin, Yonghao He +1
Imitation learning, particularly Diffusion Policies based methods, has recently gained significant traction in embodied AI as a powerful approach to action policy generation. These…