7 papers
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…
DynaForge: Planning-Guided Residual Learning for Dynamic Manipulation Demonstration Generation
Yiyang Jin, Yu Zheng, Xiao He +1
Dynamic object manipulation is essential for robots operating in real-world environments, yet methods for generating high-quality demonstrations remain limited. Methods designed fo…
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…
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…
EgoLoc: A Generalizable Solution for Temporal Interaction Localization in Egocentric Videos
Junyi Ma, Erhang Zhang, Yin-Dong Zheng +3
Analyzing hand-object interaction in egocentric vision facilitates VR/AR applications and human-robot policy transfer. Existing research has mostly focused on modeling the behavior…
Zero-Shot Temporal Interaction Localization for Egocentric Videos
Erhang Zhang, Junyi Ma, Yin-Dong Zheng +2
Locating human-object interaction (HOI) actions within video serves as the foundation for multiple downstream tasks, such as human behavior analysis and human-robot skill transfer.…