99 citations · 100 across the 6 of their papers we have counts for
10 papers
DexNinja: Learning Robust Dexterous Cutting Policy with a Real-to-Sim-to-Real Data Engine
Haozhe Lou, Runyi Yang, Wanqi Zhong +10
Cutting a piece of food looks effortless in human hands. For a robot, however, every cut is a high-contact interaction with a deformable, elasto-plastic object whose behavior chang…
Echo in the Steps: Learning Perceptive Humanoid Parkour with Gated Memory
Ming-Ju Lee, Zizhuo Wang, Shaoting Zhu +3
While recent advances in perceptive locomotion have enabled humanoid robots to traverse structured terrains, agile parkour in highly discontinuous environments remains an open chal…
TactileStep: Sole Tactile Learning for Regulating Foot-Terrain Interaction in Humanoid Locomotion
Zizhuo Wang, Ming-ju Lee, Shaoting Zhu +3
Humanoid parkour policies can traverse various terrains, but task completion may mask challenges of harsh landings, edge contacts, and unstable stance contacts. Humans naturally re…
D-REX: Differentiable Real-to-Sim-to-Real Engine for Learning Dexterous Grasping
Haozhe Lou, Mingtong Zhang, Haoran Geng +9
Simulation provides a cost-effective and flexible platform for data generation and policy learning to develop robotic systems. However, bridging the gap between simulation and real…
Seeing the Wind from a Falling Leaf
Zhiyuan Gao, Jiageng Mao, Hong-Xing Yu +5
A longstanding goal in computer vision is to model motions from videos, while the representations behind motions, i.e. the invisible physical interactions that cause objects to def…
InstantSfM: Towards GPU-Native SfM for the Deep Learning Era
Jiankun Zhong, Zitong Zhan, Quankai Gao +6
Structure-from-Motion (SfM) is a fundamental technique for recovering camera poses and scene structure from multi-view imagery, serving as a critical upstream component for applica…
The MOTIF Hand: A Robotic Hand for Multimodal Observations with Thermal, Inertial, and Force Sensors
Hanyang Zhou, Haozhe Lou, Wenhao Liu +3
Advancing dexterous manipulation with multi-fingered robotic hands requires rich sensory capabilities, while existing designs lack onboard thermal and torque sensing. In this work,…
RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning
Haoran Geng, Feishi Wang, Songlin Wei +34
Data scaling and standardized evaluation benchmarks have driven significant advances in natural language processing and computer vision. However, robotics faces unique challenges i…
Robo-GS: A Physics Consistent Spatial-Temporal Model for Robotic Arm with Hybrid Representation
Haozhe Lou, Yurong Liu, Yike Pan +9
Real2Sim2Real plays a critical role in robotic arm control and reinforcement learning, yet bridging this gap remains a significant challenge due to the complex physical properties…
MARS: An Instance-aware, Modular and Realistic Simulator for Autonomous Driving
Zirui Wu, Tianyu Liu, Liyi Luo +13
Nowadays, autonomous cars can drive smoothly in ordinary cases, and it is widely recognized that realistic sensor simulation will play a critical role in solving remaining corner c…