1 citations · 1 across the 10 of their papers we have counts for
11 papers
EATR-Stereo: Embodiment-Aware Token Routing of Paired Stereo Evidence for Humanoid Vision-Language-Action Control
Songwei Wu, Rui Zhao, Fan Yang +7
Long-horizon humanoid vision--language--action (VLA) control with head-mounted stereo cameras requires visual interfaces that can exploit complementary views while maintaining comp…
Baichuan-M4: A Clinical-Grade Medical Agent System for Continuous Care
Aiyuan Yang, Canbin Piao, Chengfeng Dou +25
Baichuan-M4 is Baichuan Intelligence's clinical-grade medical large model, designed for continuous care rather than single-turn medical question answering. It is built as a coordin…
DexPIE: Stable Dexterous Policy Improvement from Real-World Experience
Ruizhe Liao, Wenrui Chen, Liangji Zeng +4
Dexterous manipulation presents substantial challenges for imitation learning due to its high-dimensional action space and complex contact-rich dynamics. Policies trained purely fr…
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…
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…
Learning Fine-Grained Correspondence with Cross-Perspective Perception for Open-Vocabulary 6D Object Pose Estimation
Yu Qin, Shimeng Fan, Fan Yang +5
Open-vocabulary 6D object pose estimation empowers robots to manipulate arbitrary unseen objects guided solely by natural language. However, a critical limitation of existing appro…
UniFucGrasp: Human-Hand-Inspired Unified Functional Grasp Annotation Strategy and Dataset for Diverse Dexterous Hands
Haoran Lin, Wenrui Chen, Xianchi Chen +7
Dexterous grasp datasets are vital for embodied intelligence, but mostly emphasize grasp stability, ignoring functional grasps needed for tasks like opening bottle caps or holding…
Resource-Efficient Affordance Grounding with Complementary Depth and Semantic Prompts
Yizhou Huang, Fan Yang, Guoliang Zhu +6
Affordance refers to the functional properties that an agent perceives and utilizes from its environment, and is key perceptual information required for robots to perform actions.…
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…
Multi-Keypoint Affordance Representation for Functional Dexterous Grasping
Fan Yang, Dongsheng Luo, Wenrui Chen +5
Functional dexterous grasping requires precise hand-object interaction, going beyond simple gripping. Existing affordance-based methods primarily predict coarse interaction regions…
Learning Granularity-Aware Affordances from Human-Object Interaction for Tool-Based Functional Dexterous Grasping
Fan Yang, Wenrui Chen, Kailun Yang +5
To enable robots to use tools, the initial step is teaching robots to employ dexterous gestures for touching specific areas precisely where tasks are performed. Affordance features…