5 papers
I3L: Iterative Interactive Imitation Learning for Whole-Body Mobile Manipulation
Wensi Ai, Christopher Luey, Karthik Dharmarajan +7
Policies trained offline from teleoperated demonstrations can degrade outside their training distribution. This gap is particularly acute in long-horizon whole-body mobile manipula…
StereoPolicy: Improving Robotic Manipulation Policies via Stereo Perception
Evans Han, Yunfan Jiang, Yingke Wang +6
Recent advances in robot imitation learning have produced powerful visuomotor policies that manipulate diverse objects from visual inputs. However, monocular observations lack dept…
3D-Belief: Embodied Belief Inference via Generative 3D World Modeling
Yifan Yin, Zehao Wen, Suyu Ye +10
Recent advances in visual generative models have highlighted the promise of learning generative world models. However, most existing approaches frame world modeling as novel-view s…
TriDiff-4D: Fast 4D Generation through Diffusion-based Triplane Re-posing
Eddie Pokming Sheung, Qihao Liu, Wufei Ma +3
With the increasing demand for 3D animation, generating high-fidelity, controllable 4D avatars from textual descriptions remains a significant challenge. Despite notable efforts in…
SpatialReasoner: Towards Explicit and Generalizable 3D Spatial Reasoning
Wufei Ma, Yu-Cheng Chou, Qihao Liu +4
Despite recent advances on multi-modal models, 3D spatial reasoning remains a challenging task for state-of-the-art open-source and proprietary models. Recent studies explore data-…