4 papers
ShapeGen: Robotic Data Generation for Category-Level Manipulation
Yirui Wang, Xiuwei Xu, Angyuan Ma +3
Manipulation policies deployed in uncontrolled real-world scenarios are faced with great in-category geometric diversity of everyday objects. In order to function robustly under su…
F2F-AP: Flow-to-Future Asynchronous Policy for Real-time Dynamic Manipulation
Haoyu Wei, Xiuwei Xu, Ziyang Cheng +5
Asynchronous inference has emerged as a prevalent paradigm in robotic manipulation, achieving significant progress in ensuring trajectory smoothness and efficiency. However, a syst…
R2RGEN: Real-to-Real 3D Data Generation for Spatially Generalized Manipulation
Xiuwei Xu, Angyuan Ma, Hankun Li +4
Towards the aim of generalized robotic manipulation, spatial generalization is the most fundamental capability that requires the policy to work robustly under different spatial dis…
MoTo: A Zero-shot Plug-in Interaction-aware Navigation for General Mobile Manipulation
Zhenyu Wu, Angyuan Ma, Xiuwei Xu +5
Mobile manipulation stands as a core challenge in robotics, enabling robots to assist humans across varied tasks and dynamic daily environments. Conventional mobile manipulation ap…