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cs.RO2025
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…
cs.CV2025
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…
cs.RO2025
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…