5 papers
CFG-Policy: Unified Diffusion Policy Learning Framework via Classifier-free Guidance
Shutong Ding, Zhaoyang Liu, Yimiao Zhou +3
Diffusion policies are increasingly used in robotic control and manipulation, vision-language-action models, and world-model-based agents. Their ability to represent multimodal act…
Synchronized Online Friction Estimation and Adaptive Grasp Control for Robust Gentle Grasp
Zhenwei Niu, Xiaoyi Chen, Jiayu Hu +3
We introduce a unified framework for gentle robotic grasping that synergistically couples real-time friction estimation with adaptive grasp control. We propose a new particle filte…
Sample from What You See: Visuomotor Policy Learning via Diffusion Bridge with Observation-Embedded Stochastic Differential Equation
Zhaoyang Liu, Mokai Pan, Zhongyi Wang +5
Imitation learning with diffusion models has advanced robotic control by capturing the multi-modal action distributions. However, existing methods typically treat observations only…
Pelican-VL 1.0: A Foundation Brain Model for Embodied Intelligence
Yi Zhang, Che Liu, Xiancong Ren +20
This report presents Pelican-VL 1.0, a new family of open-source embodied brain models with parameter scales ranging from 7 billion to 72 billion. Our explicit mission is clearly s…
EmbodiedVSR: Dynamic Scene Graph-Guided Chain-of-Thought Reasoning for Visual Spatial Tasks
Yi Zhang, Qiang Zhang, Xiaozhu Ju +13
While multimodal large language models (MLLMs) have made groundbreaking progress in embodied intelligence, they still face significant challenges in spatial reasoning for complex l…