5 papers
DexMimic: A Generalist Dexterous Hand-Object Tracking Policy via Value-Guided Reset Allocation
Zhexi Luo, Zhixuan Xu, Rui Yang +3
Achieving human-like dexterous manipulation remains a central challenge in robotics. Learning from human hand-object interaction (HOI) datasets offers a promising pathway to divers…
LoopFM: Learning frOm HistOrical RePresentations of Foundation Model for Recommendation
Shali Jiang, Hua Zheng, Boyang Liu +46
Knowledge distillation (KD) transfers a single scalar prediction from a large foundation model (FM) to compact vertical models (VMs), suffering from diminishing transfer ratio -- t…
VLA-Pro: Cross-Task Procedural Memory Transfer for Vision-Language-Action Models
Shengyu Si, Yuanzhuo Lu, Ruimeng Yang +3
Vision-Language-Action (VLA) models have shown strong potential for general-purpose robotic manipulation, yet they still struggle to generalize to unseen tasks that necessitate tra…
ADPro: a Test-time Adaptive Diffusion Policy via Manifold-constrained Denoising and Task-aware Initialization for Robotic Manipulation
Zezeng Li, Rui Yang, Ruochen Chen +2
Diffusion policies have recently emerged as a powerful class of visuomotor controllers for robot manipulation, offering stable training and expressive multi-modal action modeling.…
Robotic Manipulation via Imitation Learning: Taxonomy, Evolution, Benchmark, and Challenges
Zezeng Li, Alexandre Chapin, Enda Xiang +6
Robotic Manipulation (RM) is central to the advancement of autonomous robots, enabling them to interact with and manipulate objects in real-world environments. This survey focuses…