6 papers
PanoFuse: Panorama-Enhanced Vision-Language-Action Learning with Decoupled Semantic-Geometric Routing
Peng Xu, Haoran Lin, Wanjun Jia +4
Vision-Language-Action (VLA) policies have shown promising performance in language-conditioned robotic manipulation. However, most existing VLA systems rely on conventional perspec…
PS-MOT: Cultivating Instance Awareness from Point Seeds for Multi-Object Tracking
Kai Luo, Fei Teng, Mengfei Duan +6
We introduce Point-supervised Multi-Object Tracking (PS-MOT) as a cost-effective alternative to traditional bounding box supervision, shifting the focus from spatial fitting to top…
BLaDA: Bridging Language to Functional Dexterous Actions within 3DGS Fields
Fan Yang, Wenrui Chen, Guorun Yan +7
In unstructured environments, functional dexterous grasping calls for the tight integration of semantic understanding, precise 3D functional localization, and physically interpreta…
PanoAffordanceNet: Towards Holistic Affordance Grounding in 360° Indoor Environments
Guoliang Zhu, Wanjun Jia, Caoyang Shao +3
Global perception is essential for embodied agents in 360° spaces, yet current affordance grounding remains largely object-centric and restricted to perspective views. To bridge th…
TRACER: Texture-Robust Affordance Chain-of-Thought for Deformable-Object Region Grounding
Wanjun Jia, Kang Li, Fan Yang +7
The central challenge in robotic manipulation of deformable objects lies in aligning high-level semantic instructions with physical interaction points under complex appearance and…
One-Shot Affordance Grounding of Deformable Objects in Egocentric Organizing Scenes
Wanjun Jia, Fan Yang, Mengfei Duan +6
Deformable object manipulation in robotics presents significant challenges due to uncertainties in component properties, diverse configurations, visual interference, and ambiguous…