5 papers
Robust and Generalized Humanoid Motion Tracking
Yubiao Ma, Han Yu, Jiayin Xie +7
Learning a general humanoid whole-body controller is challenging because practical reference motions can exhibit noise and inconsistencies after being transferred to the robot doma…
Learning Geometrically-Grounded 3D Visual Representations for View-Generalizable Robotic Manipulation
Di Zhang, Weicheng Duan, Dasen Gu +5
Real-world robotic manipulation demands visuomotor policies capable of robust spatial scene understanding and strong generalization across diverse camera viewpoints. While recent a…
ASTRO: Adaptive Stitching via Dynamics-Guided Trajectory Rollouts
Hang Yu, Di Zhang, Qiwei Du +5
Offline reinforcement learning (RL) enables agents to learn optimal policies from pre-collected datasets. However, datasets containing suboptimal and fragmented trajectories presen…
Open-world Hand-Object Interaction Video Generation Based on Structure and Contact-aware Representation
Haodong Yan, Hang Yu, Zhide Zhong +8
Generating realistic hand-object interactions (HOI) videos is a significant challenge due to the difficulty of modeling physical constraints (e.g., contact and occlusion between ha…
DexH2R: A Benchmark for Dynamic Dexterous Grasping in Human-to-Robot Handover
Youzhuo Wang, Jiayi Ye, Chuyang Xiao +6
Handover between a human and a dexterous robotic hand is a fundamental yet challenging task in human-robot collaboration. It requires handling dynamic environments and a wide varie…