5 papers
Reverse to Advance: Teleoperation-Cost Effective Hard Policy Learning from Reversed Easy Tasks
Qiyuan Qiao, Ge Yuan, Can Wang +1
High-quality teleoperation datasets are costly to collect, particularly for hard tasks. We observe that many tasks exhibit directional asymmetry: completing the forward hard task i…
AdaWorldPolicy: World-Model-Driven Diffusion Policy with Online Adaptive Learning for Robotic Manipulation
Ge Yuan, Qiyuan Qiao, Jing Zhang +1
Effective robotic manipulation requires policies that can anticipate physical outcomes and adapt to real-world environments. Effective robotic manipulation requires policies that c…
Flow-Aided Flight Through Dynamic Clutters From Point To Motion
Bowen Xu, Zexuan Yan, Minghao Lu +7
Challenges in traversing dynamic clutters lie mainly in the efficient perception of the environmental dynamics and the generation of evasive behaviors considering obstacle movement…
Breaking the Static Assumption: A Dynamic-Aware LIO Framework Via Spatio-Temporal Normal Analysis
Chen Zhiqiang, Le Gentil Cedric, Lin Fuling +5
This paper addresses the challenge of Lidar-Inertial Odometry (LIO) in dynamic environments, where conventional methods often fail due to their static-world assumptions. Traditiona…
Lasso Gripper: A String Shooting-Retracting Mechanism for Shape-Adaptive Grasping
Qiyuan Qiao, Yu Wang, Xiyu Fan +1
Handling oversized, variable-shaped, or delicate objects in transportation, grasping tasks is extremely challenging, mainly due to the limitations of the gripper's shape and size.…