8 papers · 1 filter
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…
Token-Wise Latent Streaming from Slow Reasoners to Fast Planners for Dynamic Vision Language Navigation
Tianshuai Hu, Yangyi Zhong, Zeying Gong +7
Vision-Language Navigation in dynamic, human-centric environments exposes a fundamental tension: linguistic reasoning is slow and deliberative, whereas safe, socially compliant pla…
GeoProp: Grounding Robot State in Vision for Generalist Manipulation
Guoyang Zhao, Quanhao Qian, Gongjie Zhang +5
Proprioception is fundamental to robotic manipulation, yet standard fusion methods often treat it as an isolated vector lacking explicit alignment with visual tokens. Without a dir…
Learning Terrain-Aware Whole-Body Control for Perceptive Legged Loco-Manipulation
Sikai Guo, Yudong Zhong, Guoyang Zhao +3
Legged manipulators integrate exceptional terrain adaptability along with mobile manipulation capabilities, which make them highly promising for deployment in human-centric environ…
FLUX: Accelerating Cross-Embodiment Generative Navigation Policies via Rectified Flow and Static-to-Dynamic Learning
Zeying Gong, Yangyi Zhong, Yiyi Ding +6
Autonomous navigation requires a broad spectrum of skills, from static goal-reaching to dynamic social traversal, yet evaluation remains fragmented across disparate protocols. We i…
Vision-Language-Action Models for Autonomous Driving: Past, Present, and Future
Tianshuai Hu, Xiaolu Liu, Song Wang +17
Autonomous driving has long relied on modular "Perception-Decision-Action" pipelines, where hand-crafted interfaces and rule-based components often break down in complex or long-ta…
GP3: A 3D Geometry-Aware Policy with Multi-View Images for Robotic Manipulation
Quanhao Qian, Guoyang Zhao, Gongjie Zhang +4
Effective robotic manipulation relies on a precise understanding of 3D scene geometry, and one of the most straightforward ways to acquire such geometry is through multi-view obser…
Stairway to Success: An Online Floor-Aware Zero-Shot Object-Goal Navigation Framework via LLM-Driven Coarse-to-Fine Exploration
Zeying Gong, Rong Li, Tianshuai Hu +6
Deployable service and delivery robots struggle to navigate multi-floor buildings to reach object goals, as existing systems fail due to single-floor assumptions and requirements f…