4 papers
HumanEgo: Zero-Shot Robot Learning from Minutes of Human Egocentric Videos
Zhi Wang, Botao He, Kelin Yu +4
Human egocentric video captures rich manipulation demonstrations without any robot hardware, yet transferring these skills to robots remains challenging due to the embodiment gap b…
SceneOrchestra: Efficient Agentic 3D Scene Synthesis via Full Tool-Call Trajectory Generation
Yun He, Kelin Yu, Matthias Zwicker
Recent agentic frameworks for 3D scene synthesis have advanced realism and diversity by integrating heterogeneous generation and editing tools. These tools are organized into workf…
AFFORD2ACT: How Far Can Sparse Keypoints Go for Robot Manipulation?
Anukriti Singh, Kasra Torshizi, Khuzema Habib +3
Vision-based manipulation policies are commonly learned from rich visual observations, typically using dense visual features extracted from full resolution images. It remains uncle…
GenFlowRL: Shaping Rewards with Generative Object-Centric Flow in Visual Reinforcement Learning
Kelin Yu, Sheng Zhang, Harshit Soora +4
Recent advances have shown that video generation models can enhance robot learning by deriving effective robot actions through inverse dynamics. However, these methods heavily depe…