6 citations · 6 across the 7 of their papers we have counts for
10 papers
CoSMO: Conformal Semantic Mapping for Open-World Safe Robot Navigation
Shuqi Wang, Yiwei Zheng, Pingrui Zhang +2
Safe autonomous navigation requires not only geometric obstacle avoidance but also semantic awareness. Different object categories demand different safety clearances, and the set o…
MixVLA: Adaptive Mixing of Non-Invariant Information for Generalizable Vision-Language-Action Models
Pingrui Zhang, Yu Zhang, Pengyuan Wu +8
Vision-Language-Action (VLA) models have achieved remarkable advances in robotic manipulation, yet their zero-shot generalization under out-of-distribution (OOD) conditions remains…
Closed-Loop Action Chunks with Dynamic Corrections for Training-Free Diffusion Policy
Pengyuan Wu, Pingrui Zhang, Zhigang Wang +3
Diffusion-based policies have achieved remarkable results in robotic manipulation but often struggle to adapt rapidly in dynamic scenarios, leading to delayed responses or task fai…
Exploring Category-level Articulated Object Pose Tracking on SE(3) Manifolds
Xianhui Meng, Yukang Huo, Li Zhang +6
Articulated objects are prevalent in daily life and robotic manipulation tasks. However, compared to rigid objects, pose tracking for articulated objects remains an underexplored p…
FastUMI-100K: Advancing Data-driven Robotic Manipulation with a Large-scale UMI-style Dataset
Kehui Liu, Zhongjie Jia, Yang Li +14
Data-driven robotic manipulation learning depends on large-scale, high-quality expert demonstration datasets. However, existing datasets, which primarily rely on human teleoperated…
Cross from Left to Right Brain: Adaptive Text Dreamer for Vision-and-Language Navigation
Pingrui Zhang, Yifei Su, Pengyuan Wu +7
Vision-and-Language Navigation (VLN) requires the agent to navigate by following natural instructions under partial observability, making it difficult to align perception with lang…
MoMa-Kitchen: A 100K+ Benchmark for Affordance-Grounded Last-Mile Navigation in Mobile Manipulation
Pingrui Zhang, Xianqiang Gao, Yuhan Wu +6
In mobile manipulation, navigation and manipulation are often treated as separate problems, resulting in a significant gap between merely approaching an object and engaging with it…
FastUMI: A Scalable and Hardware-Independent Universal Manipulation Interface with Dataset
Zhaxizhuoma, Kehui Liu, Chuyue Guan +15
Real-world manipulation data involving robotic arms is crucial for developing generalist action policies, yet such data remains scarce since existing data collection methods are hi…
Learning 2D Invariant Affordance Knowledge for 3D Affordance Grounding
Xianqiang Gao, Pingrui Zhang, Delin Qu +4
3D Object Affordance Grounding aims to predict the functional regions on a 3D object and has laid the foundation for a wide range of applications in robotics. Recent advances tackl…
LiveScene: Language Embedding Interactive Radiance Fields for Physical Scene Rendering and Control
Delin Qu, Qizhi Chen, Pingrui Zhang +5
This paper scales object-level reconstruction to complex scenes, advancing interactive scene reconstruction. We introduce two datasets, OmniSim and InterReal, featuring 28 scenes w…