5 papers · 1 filter
Scaling Manual-Grounded Appliance Manipulation with Data Synthesis and Unified Planning
Yuxing Long, Lei Kang, Ziyan Yu +8
Operating household appliances requires long-horizon planning that is state-dependent and robust to disturbances, yet existing large models fall short, as no sufficiently diverse,…
JoyAI-Sim: A Simulation-Enabled Interconversion Toolchain for the Embodied Data Pyramid
Peidong Liu, Yongce Liu, Songyan Guo +34
Generalist robot policies require trustworthy evaluation and robot-usable training data, but both are difficult to scale with physical robots alone. Real-robot trials and demonstra…
HiPolicy: Hierarchical Multi-Frequency Action Chunking for Policy Learning
Jiyao Zhang, Zimu Han, Junhan Wang +7
Robotic imitation learning faces a fundamental trade-off between modeling long-horizon dependencies and enabling fine-grained closed-loop control. Existing fixed-frequency action c…
RealAppliance: Let High-fidelity Appliance Assets Controllable and Workable as Aligned Real Manuals
Yuzheng Gao, Yuxing Long, Lei Kang +8
Existing appliance assets suffer from poor rendering, incomplete mechanisms, and misalignment with manuals, leading to simulation-reality gaps that hinder appliance manipulation de…
AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation
Ziyan Zhao, Ke Fan, He-Yang Xu +5
We present AnchorDP3, a diffusion policy framework for dual-arm robotic manipulation that achieves state-of-the-art performance in highly randomized environments. AnchorDP3 integra…