5 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…
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…