7 papers
Embodied Scene Rearrangement Planning
Canzhi Chen, Zan Wang, Siqi Zhu +3
This paper introduces Embodied Scene Rearrangement Planning (ESRP), a novel task requiring embodied agents to rearrange furniture in 3D scenes to match a target configuration using…
Abstraction Generation for Generalized Planning with Pretrained Large Language Models
Zhenhe Cui, Huaxiang Xia, Hangjun Shen +3
Qualitative Numerical Planning (QNP) serves as an important abstraction model for generalized planning (GP), which aims to compute general plans that solve multiple instances at on…
Sim-and-Human Co-training for Data-Efficient and Scene-Generalizable Bimanual Manipulation
Kaipeng Fang, Weiqing Liang, Yuyang Li +5
Real-robot demonstrations are prohibitively expensive, while simulation data and real-world human demonstrations are both scalable but each leaves a distinct gap: simulation suffer…
Human Motion Estimation with Everyday Wearables
Siqi Zhu, Yixuan Li, Junfu Li +4
While on-body device-based human motion estimation is crucial for applications such as XR interaction, existing methods often suffer from poor wearability, expensive hardware, and…
DogMo: A Large-Scale Multi-View RGB-D Dataset for 4D Canine Motion Recovery
Zan Wang, Siyu Chen, Luya Mo +4
We present DogMo, a large-scale multi-view RGB-D video dataset capturing diverse canine movements for the task of motion recovery from images. DogMo comprises 1.2k motion sequences…
FloNa: Floor Plan Guided Embodied Visual Navigation
Jiaxin Li, Weiqi Huang, Zan Wang +3
Humans naturally rely on floor plans to navigate in unfamiliar environments, as they are readily available, reliable, and provide rich geometrical guidance. However, existing visua…
R2G: Reasoning to Ground in 3D Scenes
Yixuan Li, Zan Wang, Wei Liang
We propose Reasoning to Ground (R2G), a neural symbolic model that grounds the target objects within 3D scenes in a reasoning manner. In contrast to prior works, R2G explicitly mod…