5 papers · 1 filter
DexMan: Learning Bimanual Dexterous Manipulation from Human and Generated Videos
Jhen Hsieh, Kuan-Hsun Tu, Kuo-Han Hung +1
We present DexMan, an automated framework that converts human visual demonstrations into bimanual dexterous manipulation skills for humanoid robots in simulation. Operating directl…
RobotArena : Scalable Robot Benchmarking via Real-to-Sim Translation
Yash Jangir, Yidi Zhang, Pang-Chi Lo +7
The pursuit of robot generalists, agents capable of performing diverse tasks across diverse environments, demands rigorous and scalable evaluation. Yet real-world testing of robot…
See, Point, Fly: A Learning-Free VLM Framework for Universal Unmanned Aerial Navigation
Chih Yao Hu, Yang-Sen Lin, Yuna Lee +7
We present See, Point, Fly (SPF), a training-free aerial vision-and-language navigation (AVLN) framework built atop vision-language models (VLMs). SPF is capable of navigating to a…
3D FlowMatch Actor: Unified 3D Policy for Single- and Dual-Arm Manipulation
Nikolaos Gkanatsios, Jiahe Xu, Matthew Bronars +3
We present 3D FlowMatch Actor (3DFA), a 3D policy architecture for robot manipulation that combines flow matching for trajectory prediction with 3D pretrained visual scene represen…
3D Diffuser Actor: Policy Diffusion with 3D Scene Representations
Tsung-Wei Ke, Nikolaos Gkanatsios, Katerina Fragkiadaki
Diffusion policies are conditional diffusion models that learn robot action distributions conditioned on the robot and environment state. They have recently shown to outperform bot…