6 papers
OFlow: Injecting Object-Aware Temporal Flow Matching for Robust Robotic Manipulation
Kuanning Wang, Ke Fan, Chenhao Qiu +5
Robust robotic manipulation requires not only predicting how the scene evolves over time, but also recognizing task-relevant objects in complex scenes. However, existing VLA models…
OCRA: Object-Centric Learning with 3D and Tactile Priors for Human-to-Robot Action Transfer
Kuanning Wang, Ke Fan, Yuqian Fu +6
We present OCRA, an Object-Centric framework for video-based human-to-Robot Action transfer that learns directly from human demonstration videos to enable robust manipulation. Obje…
SCOOP'D: Learning Mixed-Liquid-Solid Scooping via Sim2Real Generative Policy
Kuanning Wang, Yongchong Gu, Yuqian Fu +5
Scooping items with tools such as spoons and ladles is common in daily life, ranging from assistive feeding to retrieving items from environmental disaster sites. However, developi…
Spatial-Temporal Aware Visuomotor Diffusion Policy Learning
Zhenyang Liu, Yikai Wang, Kuanning Wang +3
Visual imitation learning is effective for robots to learn versatile tasks. However, many existing methods rely on behavior cloning with supervised historical trajectories, limitin…
RAG-6DPose: Retrieval-Augmented 6D Pose Estimation via Leveraging CAD as Knowledge Base
Kuanning Wang, Yuqian Fu, Tianyu Wang +4
Accurate 6D pose estimation is key for robotic manipulation, enabling precise object localization for tasks like grasping. We present RAG-6DPose, a retrieval-augmented approach tha…
Sequential Multi-Object Grasping with One Dexterous Hand
Sicheng He, Zeyu Shangguan, Kuanning Wang +4
Sequentially grasping multiple objects with multi-fingered hands is common in daily life, where humans can fully leverage the dexterity of their hands to enclose multiple objects.…