1 citations · 1 across the 7 of their papers we have counts for
8 papers
Learning Intrinsic Dynamics in Latent World Models
Jiamin Shi, Yuanhong Zhang, Zhiyang Liu +2
Learning intrinsic dynamics---the relationship between actions and their consequences---is essential for world models. However, visual variations unrelated to the underlying contro…
Rethinking 3D Shape Generation: Diffusion over Superquadrics
Zhiyang Liu, Wanze Li, Yuwei Wu +4
Diffusion models have advanced 3D shape generation, yet most methods still denoise in high-cardinality spaces (e.g., voxel/SDF grids, meshes, or point clouds), which is computation…
NTR: Neural Token Reconstruction for Scene Token Bottleneck in End-to-End Driving
Jiahui Li, Jiawei Sun, Zixiang Ren +7
Recent perception-free end-to-end (E2E) autonomous driving methods bypass explicit perception outputs by compressing dense image patch tokens into compact scene tokens for downstre…
3D Affordance Keypoint Detection for Robotic Manipulation
Zhiyang Liu, Ruiteng Zhao, Lei Zhou +6
This paper presents a novel approach for affordance-informed robotic manipulation by introducing 3D keypoints to enhance the understanding of object parts' functionality. The propo…
DexGrasp-Diffusion: Diffusion-based Unified Functional Grasp Synthesis Method for Multi-Dexterous Robotic Hands
Zhengshen Zhang, Lei Zhou, Chenchen Liu +6
The versatility and adaptability of human grasping catalyze advancing dexterous robotic manipulation. While significant strides have been made in dexterous grasp generation, curren…
You Only Scan Once: A Dynamic Scene Reconstruction Pipeline for 6-DoF Robotic Grasping of Novel Objects
Lei Zhou, Haozhe Wang, Zhengshen Zhang +3
In the realm of robotic grasping, achieving accurate and reliable interactions with the environment is a pivotal challenge. Traditional methods of grasp planning methods utilizing…
DR-Pose: A Two-stage Deformation-and-Registration Pipeline for Category-level 6D Object Pose Estimation
Lei Zhou, Zhiyang Liu, Runze Gan +2
Category-level object pose estimation involves estimating the 6D pose and the 3D metric size of objects from predetermined categories. While recent approaches take categorical shap…
Economical Precise Manipulation and Auto Eye-Hand Coordination with Binocular Visual Reinforcement Learning
Yiwen Chen, Sheng Guo, Zedong Zhang +3
Precision robotic manipulation tasks (insertion, screwing, precisely pick, precisely place) are required in many scenarios. Previous methods achieved good performance on such manip…