5 papers
APEX: Adaptive Policy Execution for Precise Manipulation
Mengfei Zhao, Chenxi Jiang, Tuo An +2
Modern imitation learning methods, including visuomotor and Vision-Language-Action (VLA) policies, typically output high-level action references that are executed by low-level cont…
Chameleon: Control-Indexed Prospective Memory for Visuomotor Manipulation
Xinying Guo, Chenxi Jiang, Hyun Bin Kim +4
Robots often observe information that determines a future action long before that action is executed. In a shell game, for example, a robot first sees which cup hides the ball, wat…
REI-Bench: Can Embodied Agents Understand Vague Human Instructions in Task Planning?
Chenxi Jiang, Chuhao Zhou, Jianfei Yang
Robot task planning decomposes human instructions into executable action sequences that enable robots to complete a series of complex tasks. Although recent large language model (L…
UniRiT: Towards Few-Shot Non-Rigid Point Cloud Registration
Geng Li, Haozhi Cao, Mingyang Liu +2
Non-rigid point cloud registration is a critical challenge in 3D scene understanding, particularly in surgical navigation. Although existing methods achieve excellent performance w…
Enhancing Dataset Distillation via Label Inconsistency Elimination and Learning Pattern Refinement
Chuhao Zhou, Chenxi Jiang, Yi Xie +2
Dataset Distillation (DD) seeks to create a condensed dataset that, when used to train a model, enables the model to achieve performance similar to that of a model trained on the e…