9 papers
EgoMatrix: Physically Faithful Dexterous Robot Demonstrations from Egocentric Human Videos
Ziheng Wang, Yanming Shao, Ting Mao +4
Egocentric human videos offer a scalable alternative to robot teleoperation for collecting dexterous manipulation data. However, two challenges limit their use as reliable training…
Cooperative Multi-Agent Vision-Language-Action Models via Reinforced Fine Tuning
Ruixiao Xu, Wong Lik Hang Kenny, Zhiqian Liu +12
We study reinforcement learning (RL) methods for cooperative multi-agent Vision-Language-Action (VLA) models. This problem is challenging because VLAs are pretrained on large-scale…
Frequency-Aware Flow Matching for Continuous and Consistent Robotic Action Generation
Jianing Guo, Fangzheng Chen, Zihao Mao +12
Flow matching has emerged as a standard paradigm for robotic manipulation owing to its strong expressive power for modelling complex, multimodal action distributions, alongside sim…
V2P-Manip: Learning Dexterous Manipulation from Monocular Human Videos
Kaihan Chen, Yanming Shao, Haifeng Ji +2
Achieving autonomous robotic dexterous manipulation requires precise, human-like action sequences at scale. As a scalable supplement to costly teleoperation data, extracting trajec…
EPS3D: End-to-End Feed-Forward 3D Panoptic Segmentation
Runsong Zhu, Jiaxin Guo, Xiaoyang Guo +9
This paper introduces EPS3D, a new end-to-end feed-forward framework for open-vocabulary 3D panoptic segmentation. Unlike existing methods relying on additional preprocessing, we d…
EgoPriMo: Egocentric Motion Generation for Interactive Humanoid Control
Haoyang Ge, Peng Ren, Yukun Shi +3
Humanoid robots require whole-body motions that adapt to scene context, task requirements, and user intent. Motion tracking reproduces specified trajectories, and humanoid vision-l…
Geometry-Guided Modeling of Foundation Features Enables Generalizable Object Shape Deformation Learning
Yiyao Ma, Kai Chen, Zhongxiang Zhou +5
Monocular 3D shape recovery is fundamental to geometric understanding, yet achieving robust generalization across arbitrary viewpoints and unseen object categories remains a signif…
Contact Map Transfer with Conditional Diffusion Model for Generalizable Dexterous Grasp Generation
Yiyao Ma, Kai Chen, Kexin Zheng +1
Dexterous grasp generation is a fundamental challenge in robotics, requiring both grasp stability and adaptability across diverse objects and tasks. Analytical methods ensure stabl…
RobustVLA: On Robustness of Vision-Language-Action Model against Multi-Modal Perturbations
Jianing Guo, Zhenhong Wu, Chang Tu +13
In Vision-Language-Actionf(VLA) models, robustness to real-world perturbations is critical for deployment. Existing methods target simple visual disturbances, overlooking the broad…