17 citations · 18 across the 11 of their papers we have counts for
12 papers · 1 filter
Towards High-DoF Dexterous Manipulation through VLA Post-Training
Junlei Zhu, Shenzhe Yao, Chaogui Huang +6
Imitation-learned vision--language--action (VLA) foundation models acquire broad manipulation capabilities by scaling robot data across tasks and embodiments, but reliable deployme…
Learning Soccer Skills for Humanoid Robots: A Progressive Perception-Action Framework
Jipeng Kong, Xinzhe Liu, Yuhang Lin +4
Soccer presents a significant challenge for humanoid robots, demanding tightly integrated perception-action capabilities for tasks like perception-guided kicking and whole-body bal…
Differential Barometric Altimetry for Submeter Vertical Localization and Floor Recognition Indoors
Yuhang Zhang, Sören Schwertfeger
Accurate altitude estimation and reliable floor recognition are critical for mobile robot localization and navigation within complex multi-storey environments. In this paper, we pr…
Adversarial Locomotion and Motion Imitation for Humanoid Policy Learning
Jiyuan Shi, Xinzhe Liu, Dewei Wang +6
Humans exhibit diverse and expressive whole-body movements. However, attaining human-like whole-body coordination in humanoid robots remains challenging, as conventional approaches…
Playful DoggyBot: Learning Agile and Precise Quadrupedal Locomotion
Xin Duan, Ziwen Zhuang, Hang Zhao +1
Quadrupedal animals can perform agile and playful tasks while interacting with real-world objects. For instance, a trained dog can track and catch a flying frisbee before it touche…
Collecting Larg-Scale Robotic Datasets on a High-Speed Mobile Platform
Yuxin Lin, Jiaxuan Ma, Sizhe Gu +6
Mobile robotics datasets are essential for research on robotics, for example for research on Simultaneous Localization and Mapping (SLAM). Therefore the ShanghaiTech Mapping Robot…
High-Quality, ROS Compatible Video Encoding and Decoding for High-Definition Datasets
Jian Li, Bowen Xu, Sören Schwertfeger
Robotic datasets are important for scientific benchmarking and developing algorithms, for example for Simultaneous Localization and Mapping (SLAM). Modern robotic datasets feature…
Detection and Utilization of Reflections in LiDAR Scans Through Plane Optimization and Plane SLAM
Yinjie Li, Xiting Zhao, Sören Schwertfeger
In LiDAR sensing, glass, mirrors and other material often cause inconsistent data readings, because the laser beams may report the distance of the glass, the distance of the object…
Benchmarking SLAM Algorithms in the Cloud: The SLAM Hive Benchmarking Suite
Xinzhe Liu, Yuanyuan Yang, Bowen Xu +2
Evaluating the performance of Simultaneous Localization and Mapping (SLAM) algorithms is essential for scientists and users of robotic systems alike. But there are a multitude of d…
3DRef: 3D Dataset and Benchmark for Reflection Detection in RGB and Lidar Data
Xiting Zhao, Sören Schwertfeger
Reflective surfaces present a persistent challenge for reliable 3D mapping and perception in robotics and autonomous systems. However, existing reflection datasets and benchmarks r…
Empowering Robot Path Planning with Large Language Models: osmAG Map Topology & Hierarchy Comprehension with LLMs
Fujing Xie, Sören Schwertfeger
Large Language Models (LLMs) have demonstrated great potential in robotic applications by providing essential general knowledge. Mobile robots rely on map comprehension for tasks l…
RealDex: Towards Human-like Grasping for Robotic Dexterous Hand
Yumeng Liu, Yaxun Yang, Youzhuo Wang +9
In this paper, we introduce RealDex, a pioneering dataset capturing authentic dexterous hand grasping motions infused with human behavioral patterns, enriched by multi-view and mul…