6 papers
From Watch to Imagine: Steering Long-horizon Manipulation via Human Demonstration and Future Envisionment
Ke Ye, Jiaming Zhou, Yuanfeng Qiu +4
Generalizing to long-horizon manipulation tasks in a zero-shot setting remains a central challenge in robotics. Current multimodal foundation based approaches, despite their capabi…
End-to-End Humanoid Robot Safe and Comfortable Locomotion Policy
Zifan Wang, Xun Yang, Jianzhuang Zhao +5
The deployment of humanoid robots in unstructured, human-centric environments requires navigation capabilities that extend beyond simple locomotion to include robust perception, pr…
GLOVER++: Unleashing the Potential of Affordance Learning from Human Behaviors for Robotic Manipulation
Teli Ma, Jia Zheng, Zifan Wang +3
Learning manipulation skills from human demonstration videos offers a promising path toward generalizable and interpretable robotic intelligence-particularly through the lens of ac…
Omni-Perception: Omnidirectional Collision Avoidance for Legged Locomotion in Dynamic Environments
Zifan Wang, Teli Ma, Yufei Jia +5
Agile locomotion in complex 3D environments requires robust spatial awareness to safely avoid diverse obstacles such as aerial clutter, uneven terrain, and dynamic agents. Depth-ba…
Exploring the Limits of Vision-Language-Action Manipulations in Cross-task Generalization
Jiaming Zhou, Ke Ye, Jiayi Liu +6
The generalization capabilities of vision-language-action (VLA) models to unseen tasks are crucial to achieving general-purpose robotic manipulation in open-world settings. However…
GLOVER: Generalizable Open-Vocabulary Affordance Reasoning for Task-Oriented Grasping
Teli Ma, Zifan Wang, Jiaming Zhou +2
Inferring affordable (i.e., graspable) parts of arbitrary objects based on human specifications is essential for robots advancing toward open-vocabulary manipulation. Current grasp…