6 papers
InterMimicGen: Scaling Humanoid Loco-Manipulation through Self-Evolving Motion Imitation
Yucheng Zhang, Sirui Xu, Jinhong Li +8
Captured human-object interactions provide rich supervision for humanoid loco-manipulation, but they are sparse, heterogeneous, and not directly executable by robots. We introduce…
InterEvolve: Test-Time Evolution of Reward Programs for Humanoid Loco-Manipulation
Zhuo Lin, Sirui Xu, Liuyu Bian +2
We study test-time evolution for humanoid loco-manipulation: solving tasks that a controller was never trained for by repurposing its existing skills, improving from its own attemp…
ULTRA: Unified Multimodal Control for Autonomous Humanoid Whole-Body Loco-Manipulation
Xialin He, Sirui Xu, Xinyao Li +4
Achieving autonomous and versatile whole-body loco-manipulation remains a central barrier to making humanoids practically useful. Yet existing approaches are fundamentally constrai…
Dexplore: Scalable Neural Control for Dexterous Manipulation from Reference-Scoped Exploration
Sirui Xu, Yu-Wei Chao, Liuyu Bian +4
Hand-object motion-capture (MoCap) repositories offer large-scale, contact-rich demonstrations and hold promise for scaling dexterous robotic manipulation. Yet demonstration inaccu…
Robo360: A 3D Omnispective Multi-Material Robotic Manipulation Dataset
Litian Liang, Liuyu Bian, Caiwei Xiao +6
Building robots that can automate labor-intensive tasks has long been the core motivation behind the advancements in computer vision and the robotics community. Recent interest in…
TransTouch: Learning Transparent Objects Depth Sensing Through Sparse Touches
Liuyu Bian, Pengyang Shi, Weihang Chen +3
Transparent objects are common in daily life. However, depth sensing for transparent objects remains a challenging problem. While learning-based methods can leverage shape priors t…