3 papers
cs.RO2026
Collision-Free Humanoid Traversal in Cluttered Indoor Scenes
Han Xue, Sikai Liang, Zhikai Zhang +7
We study the problem of collision-free humanoid traversal in cluttered indoor scenes, such as hurdling over objects scattered on the floor, crouching under low-hanging obstacles, o…
cs.RO2025
DyWA: Dynamics-adaptive World Action Model for Generalizable Non-prehensile Manipulation
Jiangran Lyu, Ziming Li, Xuesong Shi +3
Nonprehensile manipulation is crucial for handling objects that are too thin, large, or otherwise ungraspable in unstructured environments. While conventional planning-based approa…
cs.RO2025
FetchBot: Learning Generalizable Object Fetching in Cluttered Scenes via Zero-Shot Sim2Real
Weiheng Liu, Yuxuan Wan, Jilong Wang +7
Generalizable object fetching in cluttered scenes remains a fundamental and application-critical challenge in embodied AI. Closely packed objects cause inevitable occlusions, makin…