6 papers · 1 filter
PhyVisGen: Physically and Visually High-Fidelity Robotic Manipulation Data Generation
Yu Zheng, Qiyu Feng, Yixin Wu +6
Large-scale manipulation demonstrations are essential for learning robust visuomotor policies, yet real-world data collection is expensive and difficult to scale. Simulation offers…
WM-VS: Progress-Aligned World Models for Closed-Loop Visual Servoing
Guanzhong Sun, Junyi Ma, Yixuan Zhou +3
Closed-loop visual servoing requires predictions that indicate whether an action reduces task error, not only whether the action is plausible. We call this gap the prediction-contr…
CSSDF-Net: Safe Motion Planning Based on Neural Implicit Representations of Configuration Space Distance Field
Haohua Chen, Yixuan Zhou, Yifan Zhou +1
High-dimensional manipulator operation in unstructured environments requires a differentiable, scene-agnostic distance query mechanism to guide safe motion generation. Existing geo…
PILOT: A Perceptive Integrated Low-level Controller for Loco-manipulation over Unstructured Scenes
Xinru Cui, Linxi Feng, Yixuan Zhou +3
Humanoid robots hold great potential for diverse interactions and daily service tasks within human-centered environments, necessitating controllers that seamlessly integrate precis…
Development of a 15-Degree-of-Freedom Bionic Hand with Cable-Driven Transmission and Distributed Actuation
Haoqi Han, Yi Yang, Yifei Yu +3
In robotic hand research, minimizing the number of actuators while maintaining human-hand-consistent dimensions and degrees of freedom constitutes a fundamental challenge. Drawing…
UTTG_ A Universal Teleoperation Approach via Online Trajectory Generation
Shengjian Fang, Yixuan Zhou, Yu Zheng +3
Teleoperation is crucial for hazardous environment operations and serves as a key tool for collecting expert demonstrations in robot learning. However, existing methods face roboti…