4 citations · 9 across the 11 of their papers we have counts for
11 papers
DynaMOMA: Instantaneous Prediction of Grasp Poses for Mobile Manipulation of Dynamic Objects
Zhinan Yu, Junyan Xu, Jiazhao Zhang +9
Mobile manipulation is a fundamental robotics task and has advanced rapidly in recent years, enabling robots to navigate, reach, and interact with objects in complex environments.…
PAIWorld: A 3D-Consistent World Foundation Model for Robotic Manipulation
Yuhang Huang, Xuan Lv, Junyan Xu +25
World foundation models (WFMs) are powerful simulators, yet they predominantly operate in a single-view setting and lack the multi-view 3D consistency required for robotic manipula…
VoxScene: Anchor-Conditioned Voxel Diffusion for Indoor Scene Arrangement
Haotian Mao, Yuhan Huang, Jiatao Lin +8
We present VoxScene, a novel anchor-conditioned voxel diffusion framework tailored for 3D scene synthesis. Current data-driven layout generation techniques typically rely on boundi…
AdaPower: Specializing World Foundation Models for Predictive Manipulation
Yuhang Huang, Shilong Zou, Jiazhao Zhang +3
World Foundation Models (WFMs) offer remarkable visual dynamics simulation capabilities, yet their application to precise robotic control remains limited by the gap between generat…
CycleDiff: Cycle Diffusion Models for Unpaired Image-to-image Translation
Shilong Zou, Yuhang Huang, Renjiao Yi +2
We introduce a diffusion-based cross-domain image translator in the absence of paired training data. Unlike GAN-based methods, our approach integrates diffusion models to learn the…
LaDi-WM: A Latent Diffusion-based World Model for Predictive Manipulation
Yuhang Huang, Jiazhao Zhang, Shilong Zou +3
Predictive manipulation has recently gained considerable attention in the Embodied AI community due to its potential to improve robot policy performance by leveraging predicted sta…
Self-supervised Learning of Hybrid Part-aware 3D Representations of 2D Gaussians and Superquadrics
Zhirui Gao, Renjiao Yi, Yuhang Huang +3
Low-level 3D representations, such as point clouds, meshes, NeRFs and 3D Gaussians, are commonly used for modeling 3D objects and scenes. However, cognitive studies indicate that h…
DISCO: Efficient Diffusion Solver for Large-Scale Combinatorial Optimization Problems
Hang Zhao, Kexiong Yu, Yuhang Huang +3
Combinatorial Optimization (CO) problems are fundamentally important in numerous real-world applications across diverse industries, characterized by entailing enormous solution spa…
Part-aware Shape Generation with Latent 3D Diffusion of Neural Voxel Fields
Yuhang Huang, SHilong Zou, Xinwang Liu +1
This paper presents a novel latent 3D diffusion model for the generation of neural voxel fields, aiming to achieve accurate part-aware structures. Compared to existing methods, the…
DiffusionEdge: Diffusion Probabilistic Model for Crisp Edge Detection
Yunfan Ye, Kai Xu, Yuhang Huang +2
Limited by the encoder-decoder architecture, learning-based edge detectors usually have difficulty predicting edge maps that satisfy both correctness and crispness. With the recent…
Simultaneous Image-to-Zero and Zero-to-Noise: Diffusion Models with Analytical Image Attenuation
Yuhang Huang, Zheng Qin, Xinwang Liu +1
Recent studies have demonstrated that the forward diffusion process is crucial for the effectiveness of diffusion models in terms of generative quality and sampling efficiency. We…