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cs.RO2025
Towards Proprioception-Aware Embodied Planning for Dual-Arm Humanoid Robots
Boyu Li, Siyuan He, Hang Xu +10
In recent years, Multimodal Large Language Models (MLLMs) have demonstrated the ability to serve as high-level planners, enabling robots to follow complex human instructions. Howev…
cs.RO2025
RTFF: Random-to-Target Fabric Flattening Policy using Dual-Arm Manipulator
Kai Tang, Dipankar Bhattacharya, Hang Xu +3
Robotic fabric manipulation remains challenging due to fabric deformability and occlusions from wrinkles and the manipulator. This paper defines Random-to-Target Fabric Flattening…
cs.RO2025
DualTHOR: A Dual-Arm Humanoid Simulation Platform for Contingency-Aware Planning
Boyu Li, Siyuan He, Hang Xu +9
Developing embodied agents capable of performing complex interactive tasks in real-world scenarios remains a fundamental challenge in embodied AI. Although recent advances in simul…