9 papers
HiPolicy: Hierarchical Multi-Frequency Action Chunking for Policy Learning
Jiyao Zhang, Zimu Han, Junhan Wang +7
Robotic imitation learning faces a fundamental trade-off between modeling long-horizon dependencies and enabling fine-grained closed-loop control. Existing fixed-frequency action c…
FreeArtGS: Articulated Gaussian Splatting Under Free-moving Scenario
Hang Dai, Hongwei Fan, Han Zhang +3
The increasing demand for augmented reality and robotics is driving the need for articulated object reconstruction with high scalability. However, existing settings for reconstruct…
AnchorVLA4D: an Anchor-Based Spatial-Temporal Vision-Language-Action Model for Robotic Manipulation
Juan Zhu, Zhanying Shao, Xiaoqi Li +4
Since current Vision-Language-Action (VLA) systems suffer from limited spatial perception and the absence of memory throughout manipulation, we investigate visual anchors as a mean…
TwinAligner: Visual-Dynamic Alignment Empowers Physics-aware Real2Sim2Real for Robotic Manipulation
Hongwei Fan, Hang Dai, Jiyao Zhang +7
The robotics field is evolving towards data-driven, end-to-end learning, inspired by multimodal large models. However, reliance on expensive real-world data limits progress. Simula…
Real2Edit2Real: Generating Robotic Demonstrations via a 3D Control Interface
Yujie Zhao, Hongwei Fan, Di Chen +5
Recent progress in robot learning has been driven by large-scale datasets and powerful visuomotor policy architectures, yet policy robustness remains limited by the substantial cos…
Fidelity-Aware Data Composition for Robust Robot Generalization
Zizhao Tong, Di Chen, Sicheng Hu +6
Generalist robot policies trained on large-scale, visually homogeneous datasets can be susceptible to shortcut learning, which impairs their out-of-distribution (OOD) generalizatio…