6 papers
LIBERO-Dynamic: Benchmarking Robotic Manipulation in Dynamic Environments
Shaojie Ren, Jingwen Sun, Zezhi Liu +4
Most simulation benchmarks for robotic manipulation keep target objects static and treat policy inference as instantaneous. These assumptions simplify evaluation but hide how a mov…
Homogenization of an optimal control problem for a Navier-Stokes-Cahn-Hilliard system in a 3D perforated domain
Amartya Chakrabortty, Haradhan Dutta, Hari Shankar Mahato
We study the homogenization of an optimal control problem governed by a Navier-Stokes-Cahn-Hilliard system in a periodically perforated three-dimensional domain. The obstacles are…
Vision-TL-Action: Neuro-Symbolic Trajectory Generation from Visual Observations and Temporal Logic
Zezhi Liu, Zhiwei Zheng, Hanqian Luo +3
Temporal logic (TL) provides a compositional language for the formulation of long horizon robotic tasks, but existing TL-conditioned trajectory generators can sidestep perception-t…
VLA-JEPA: Enhancing Vision-Language-Action Model with Latent World Model
Jingwen Sun, Wenyao Zhang, Zekun Qi +6
Pretraining Vision-Language-Action (VLA) policies on internet-scale video is appealing, yet current latent-action objectives often learn the wrong thing: they remain anchored to pi…
A General One-Shot Multimodal Active Perception Framework for Robotic Manipulation: Learning to Predict Optimal Viewpoint
Deyun Qin, Zezhi Liu, Hanqian Luo +2
Active perception in vision-based robotic manipulation aims to move the camera toward more informative observation viewpoints, thereby providing high-quality perceptual inputs for…
BT-TL-DMPs: A Novel Robot TAMP Framework Combining Behavior Tree, Temporal Logic and Dynamical Movement Primitives
Zezhi Liu, Shizhen Wu, Hanqian Luo +2
In the field of Learning from Demonstration (LfD), enabling robots to generalize learned manipulation skills to novel scenarios for long-horizon tasks remains challenging. Specific…