14 citations · 14 across the 4 of their papers we have counts for
4 papers · 1 filter
Path and Motion Optimization for Efficient Multi-Location Inspection with Humanoid Robots
Jiayang Wu, Jiongye Li, Shibowen Zhang +8
This paper proposes a novel framework for humanoid robots to execute inspection tasks with high efficiency and millimeter-level precision. The approach combines hierarchical planni…
M2Diffuser: Diffusion-based Trajectory Optimization for Mobile Manipulation in 3D Scenes
Sixu Yan, Zeyu Zhang, Muzhi Han +7
Recent advances in diffusion models have opened new avenues for research into embodied AI agents and robotics. Despite significant achievements in complex robotic locomotion and sk…
M3Bench: Benchmarking Whole-body Motion Generation for Mobile Manipulation in 3D Scenes
Zeyu Zhang, Sixu Yan, Muzhi Han +4
We propose M3Bench, a new benchmark for whole-body motion generation in mobile manipulation tasks. Given a 3D scene context, M3Bench requires an embodied agent to reason about its…
Part-level Scene Reconstruction Affords Robot Interaction
Zeyu Zhang, Lexing Zhang, Zaijin Wang +5
Existing methods for reconstructing interactive scenes primarily focus on replacing reconstructed objects with CAD models retrieved from a limited database, resulting in significan…