5 papers
Video2DoorTraversal: Push Door Traversal via Simulated Door Twins
Xincheng Tang, Yiji Chen, Youhan Xie +8
Door opening and traversal is a long-horizon loco-manipulation task that requires precise handle interaction and coordinated base-arm control. We present Video2DoorTraversal, a sin…
StairMaster: Learning to Conquer Risky Hollow Stairs for Agile Quadrupedal Robots
Xincheng Tang, Youhan Xie, Zhengjie Shu +5
Climbing hollow stairs remains a challenging problem for quadruped robots due to the high risk of leg trapping, severe depth sparsity, and high-frequency depth-sensing noise. In th…
SimWeaver: Zero-Shot RGB Sim-to-Real for Deformable Manipulation
Wenkang Hu, Haoran Wang, Yitong Li +10
RGB sim-to-real for deformable manipulation has remained largely unsolved without real-world fine-tuning. We present SimWeaver, which trains zero-shot RGB VLA policies on 200 simul…
Real Garment Benchmark (RGBench): A Comprehensive Benchmark for Robotic Garment Manipulation featuring a High-Fidelity Scalable Simulator
Wenkang Hu, Xincheng Tang, Yanzhi E +5
While there has been significant progress to use simulated data to learn robotic manipulation of rigid objects, applying its success to deformable objects has been hindered by the…
Boosting Statistic Learning with Synthetic Data from Pretrained Large Models
Jialong Jiang, Wenkang Hu, Jian Huang +2
The rapid advancement of generative models, such as Stable Diffusion, raises a key question: how can synthetic data from these models enhance predictive modeling? While they can ge…