6 papers
A3D: Adaptive Affordance Assembly with Dual-Arm Manipulation
Jiaqi Liang, Yue Chen, Qize Yu +4
Furniture assembly is a crucial yet challenging task for robots, requiring precise dual-arm coordination where one arm manipulates parts while the other provides collaborative supp…
WarriorMath: Enhancing the Mathematical Ability of Large Language Models with a Defect-aware Framework
Yue Chen, Minghua He, Fangkai Yang +9
Large Language Models (LLMs) excel in solving mathematical problems, yet their performance is often limited by the availability of high-quality, diverse training data. Existing met…
DexGarmentLab: Dexterous Garment Manipulation Environment with Generalizable Policy
Yuran Wang, Ruihai Wu, Yue Chen +7
Garment manipulation is a critical challenge due to the diversity in garment categories, geometries, and deformations. Despite this, humans can effortlessly handle garments, thanks…
GarmentPile: Point-Level Visual Affordance Guided Retrieval and Adaptation for Cluttered Garments Manipulation
Ruihai Wu, Ziyu Zhu, Yuran Wang +3
Cluttered garments manipulation poses significant challenges due to the complex, deformable nature of garments and intricate garment relations. Unlike single-garment manipulation,…
ExeCoder: Empowering Large Language Models with Executability Representation for Code Translation
Minghua He, Yue Chen, Fangkai Yang +6
Code translation is a crucial activity in the software development and maintenance process, and researchers have recently begun to focus on using pre-trained large language models…
ET-SEED: Efficient Trajectory-Level SE(3) Equivariant Diffusion Policy
Chenrui Tie, Yue Chen, Ruihai Wu +4
Imitation learning, e.g., diffusion policy, has been proven effective in various robotic manipulation tasks. However, extensive demonstrations are required for policy robustness an…