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cs.RO2025
RoboRetriever: Single-Camera Robot Object Retrieval via Active and Interactive Perception with Dynamic Scene Graph
Hecheng Wang, Jiankun Ren, Jia Yu +2
Humans effortlessly retrieve objects in cluttered, partially observable environments by combining visual reasoning, active viewpoint adjustment, and physical interaction-with only…
cs.RO2023
Hierarchical Visual Policy Learning for Long-Horizon Robot Manipulation in Densely Cluttered Scenes
Hecheng Wang, Lizhe Qi, Bin Fang +1
In this work, we focus on addressing the long-horizon manipulation tasks in densely cluttered scenes. Such tasks require policies to effectively manage severe occlusions among obje…