6 papers
GenHOI: Contact-Aware Humanoid-Object Interaction by Imitating Generated Videos without Task-Specific Training
Zhihai Bi, Qiang Zhang, Guoyang Zhao +8
Humanoid-Object Interaction (HOI) is a fundamental capability for humanoid robots, yet it remains challenging due to the tight coupling between dynamic balance and stable interacti…
TeFlow: Enabling Multi-frame Supervision for Self-Supervised Feed-forward Scene Flow Estimation
Qingwen Zhang, Chenhan Jiang, Xiaomeng Zhu +4
Self-supervised feed-forward methods for scene flow estimation offer real-time efficiency, but their supervision from two-frame point correspondences is unreliable and often breaks…
ALORE: Autonomous Large-Object Rearrangement with a Legged Manipulator
Zhihai Bi, Yushan Zhang, Kai Chen +3
Endowing robots with the ability to rearrange various large and heavy objects, such as furniture, can substantially alleviate human workload. However, this task is extremely challe…
DeltaFlow: An Efficient Multi-frame Scene Flow Estimation Method
Qingwen Zhang, Xiaomeng Zhu, Yushan Zhang +3
Previous dominant methods for scene flow estimation focus mainly on input from two consecutive frames, neglecting valuable information in the temporal domain. While recent trends s…
Zero-Shot 4D Lidar Panoptic Segmentation
Yushan Zhang, Aljoša Ošep, Laura Leal-Taixé +1
Zero-shot 4D segmentation and recognition of arbitrary objects in Lidar is crucial for embodied navigation, with applications ranging from streaming perception to semantic mapping…
DiffSF: Diffusion Models for Scene Flow Estimation
Yushan Zhang, Bastian Wandt, Maria Magnusson +1
Scene flow estimation is an essential ingredient for a variety of real-world applications, especially for autonomous agents, such as self-driving cars and robots. While recent scen…