8 papers
ARSTAG: An Agentic Real2Sim2Real System for Task-Specific Robot Data Generation
Bowei Li, Yuner Zhang, Changliu Liu
Adapting visuomotor policies to new manipulation tasks often requires substantial manual engineering or teleoperated data collection. Simulation can provide task-specific data at s…
ManiSkillFormer: Demonstration-Free Compositional Manipulation via Geometric Contracts and Agentic Skill Graph
Peiqi Yu, Mosam Dabhi, Shangtao Li +3
Adapting robotic manipulation to new objects and tasks often requires additional demonstrations or manual engineering. Reusable manipulation skills can reduce this effort, but adap…
Motion Planning with Model-Based Diffusion via Constraint Optimization and Adaptive Scheduling
Zhilin He, Bowei Li, Jianlin Dou +2
Single-Robot Motion Planning (SRMP) in highly non-convex constrained environments, where robots must satisfy collision-free guarantees, dynamic feasibility, and task-related constr…
BrickCraft: Visuomotor Skill Composition with Situated Manual Guidance for Long-Horizon Interlocking Brick Assembly
Jichuan Yu, Bowei Li, Zhenran Tang +4
Autonomous robotic assembly of interlocking bricks demands seamless integration of long-horizon task reasoning, spatial grounding, and fine-grained manipulation. This paper present…
Enhancing Certifiable Semantic Robustness via Robust Pruning of Deep Neural Networks
Hanjiang Hu, Bowei Li, Ziwei Wang +4
Deep neural networks have been widely adopted in many vision and robotics applications with visual inputs. It is essential to verify its robustness against semantic transformation…
From Pixels to Places: A Systematic Benchmark for Evaluating Image Geolocalization Ability in Large Language Models
Lingyao Li, Runlong Yu, Qikai Hu +4
Image geolocalization, the task of identifying the geographic location depicted in an image, is important for applications in crisis response, digital forensics, and location-based…
NeSyPack: A Neuro-Symbolic Framework for Bimanual Logistics Packing
Bowei Li, Peiqi Yu, Zhenran Tang +4
This paper presents NeSyPack, a neuro-symbolic framework for bimanual logistics packing. NeSyPack combines data-driven models and symbolic reasoning to build an explainable hierarc…
SPARK: Safe Protective and Assistive Robot Kit
Yifan Sun, Rui Chen, Kai S. Yun +6
This paper introduces the Safe Protective and Assistive Robot Kit (SPARK), a comprehensive benchmark designed to ensure safety in humanoid autonomy and teleoperation. Humanoid robo…