6 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…
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…
Captain Safari: A World Engine with Pose-Aligned 3D Memory
Yu-Cheng Chou, Xingrui Wang, Yitong Li +5
World engines aim to synthesize long, 3D-consistent videos that support interactive exploration of a scene under user-controlled camera motion. However, existing systems struggle u…
CodeDiffuser: Attention-Enhanced Diffusion Policy via VLM-Generated Code for Instruction Ambiguity
Guang Yin, Yitong Li, Yixuan Wang +6
Natural language instructions for robotic manipulation tasks often exhibit ambiguity and vagueness. For instance, the instruction "Hang a mug on the mug tree" may involve multiple…
GarmentLab: A Unified Simulation and Benchmark for Garment Manipulation
Haoran Lu, Ruihai Wu, Yitong Li +7
Manipulating garments and fabrics has long been a critical endeavor in the development of home-assistant robots. However, due to complex dynamics and topological structures, garmen…
Broadcasting Support Relations Recursively from Local Dynamics for Object Retrieval in Clutters
Yitong Li, Ruihai Wu, Haoran Lu +4
In our daily life, cluttered objects are everywhere, from scattered stationery and books cluttering the table to bowls and plates filling the kitchen sink. Retrieving a target obje…