8 papers
A Closed-Loop Multi-Agent Framework for Robust Multi-Robot Manipulation
Yi-Xiang He, Lan Wei, Haoming Cen +6
Multi-robot systems provide the parallelism and redundancy necessary for long-horizon tasks, while Large Language Models (LLMs) offer the reasoning capabilities to decompose these…
Humanoid Whole-Body Manipulation via Active Spatial Brain and Generalizable Action Cerebellum
Zhizhao Liang, Yi-Lin Wei, Xuhang Chen +6
In this paper, we explore spatial-aware humanoid whole-body manipulation task. Compared with tabletop settings, this task poses two key challenges: 1) Spatial understanding is chal…
Decomposed Object Manipulation via Dual-Actor Policy
Bin Fan, Jian-Jian Jiang, Zhuohao Li +5
Object manipulation, which focuses on learning to perform tasks on similar parts across different types of objects, can be divided into an approaching stage and a manipulation stag…
Learning Dexterous Manipulation with Quantized Hand State
Ying Feng, Hongjie Fang, Yinong He +5
Dexterous robotic hands enable robots to perform complex manipulations that require fine-grained control and adaptability. Achieving such manipulation is challenging because the hi…
Audio-driven Gesture Generation via Deviation Feature in the Latent Space
Jiahui Chen, Yang Huan, Runhua Shi +4
Gestures are essential for enhancing co-speech communication, offering visual emphasis and complementing verbal interactions. While prior work has concentrated on point-level motio…
Rethinking Bimanual Robotic Manipulation: Learning with Decoupled Interaction Framework
Jian-Jian Jiang, Xiao-Ming Wu, Yi-Xiang He +4
Bimanual robotic manipulation is an emerging and critical topic in the robotics community. Previous works primarily rely on integrated control models that take the perceptions and…
Teaching Embodied Reinforcement Learning Agents: Informativeness and Diversity of Language Use
Jiajun Xi, Yinong He, Jianing Yang +2
In real-world scenarios, it is desirable for embodied agents to have the ability to leverage human language to gain explicit or implicit knowledge for learning tasks. Despite recen…
Implicit Contact Diffuser: Sequential Contact Reasoning with Latent Point Cloud Diffusion
Zixuan Huang, Yinong He, Yating Lin +1
Long-horizon contact-rich manipulation has long been a challenging problem, as it requires reasoning over both discrete contact modes and continuous object motion. We introduce Imp…