25 citations · 25 across the 10 of their papers we have counts for
10 papers
TDC: Sim-to-Real Transferable Directional Compliance for Contact-Rich Manipulation
Yifei Yang, Anzhe Chen, Zhenjie Zhu +6
Contact-rich manipulation requires robots to regulate both motion and interaction forces, yet achieving adaptive compliance remains a fundamental challenge. Learning from real-worl…
Seeing to Act, Prompting to Specify: A Bayesian Factorization of Vision Language Action Policy
Kechun Xu, Zhenjie Zhu, Anzhe Chen +7
The pursuit of out-of-distribution generalization in Vision-Language-Action (VLA) models is often hindered by catastrophic forgetting of the Vision-Language Model (VLM) backbone du…
Toward Embodiment Equivariant Vision-Language-Action Policy
Anzhe Chen, Yifei Yang, Zhenjie Zhu +4
Vision-language-action policies learn manipulation skills across tasks, environments and embodiments through large-scale pre-training. However, their ability to generalize to novel…
TOP: Time Optimization Policy for Stable and Accurate Standing Manipulation with Humanoid Robots
Zhenghan Chen, Haocheng Xu, Haodong Zhang +7
Humanoid robots have the potential capability to perform a diverse range of manipulation tasks, but this is based on a robust and precise standing controller. Existing methods are…
Disambiguate Gripper State in Grasp-Based Tasks: Pseudo-Tactile as Feedback Enables Pure Simulation Learning
Yifei Yang, Lu Chen, Zherui Song +5
Grasp-based manipulation tasks are fundamental to robots interacting with their environments, yet gripper state ambiguity significantly reduces the robustness of imitation learning…
Efficient Alignment of Unconditioned Action Prior for Language-conditioned Pick and Place in Clutter
Kechun Xu, Xunlong Xia, Kaixuan Wang +6
We study the task of language-conditioned pick and place in clutter, where a robot should grasp a target object in open clutter and move it to a specified place. Some approaches le…
-DBA: Neural Implicit Dense Bundle Adjustment Enables Image-Only Driving Scene Reconstruction
Yunxuan Mao, Bingqi Shen, Yifei Yang +4
The joint optimization of the sensor trajectory and 3D map is a crucial characteristic of bundle adjustment (BA), essential for autonomous driving. This paper presents -DBA, a n…
DORec: Decomposed Object Reconstruction and Segmentation Utilizing 2D Self-Supervised Features
Jun Wu, Sicheng Li, Sihui Ji +4
Recovering 3D geometry and textures of individual objects is crucial for many robotics applications, such as manipulation, pose estimation, and autonomous driving. However, decompo…
UrbanGIRAFFE: Representing Urban Scenes as Compositional Generative Neural Feature Fields
Yuanbo Yang, Yifei Yang, Hanlei Guo +3
Generating photorealistic images with controllable camera pose and scene contents is essential for many applications including AR/VR and simulation. Despite the fact that rapid pro…
Open-Set Object Detection Using Classification-free Object Proposal and Instance-level Contrastive Learning
Zhongxiang Zhou, Yifei Yang, Yue Wang +1
Detecting both known and unknown objects is a fundamental skill for robot manipulation in unstructured environments. Open-set object detection (OSOD) is a promising direction to ha…