1 citations · 1 across the 8 of their papers we have counts for
9 papers
Try Once, Then Optimal: De-Redundified Procedure Memory for Cross-Episode Exploration Amortization
Haizhou Ge, Haochen Ouyang, Zhixing Chen +6
Manipulating objects with hidden internal state, such as a latched microwave, forces a robot to probe before it can act. Yet a robot that has solved an instance once re-runs the sa…
When Video Misreads: Closed-Loop Distillation of Reading Heuristics for Exploratory Manipulation Trace QA
Haizhou Ge, Yufei Jia, Yue Li +5
Exploratory manipulation often turns an apparent failed attempt into the key evidence for what to do next. For example, a robot pulls a locked cabinet drawer, fails, and only succe…
GS-Playground: A High-Throughput Photorealistic Simulator for Vision-Informed Robot Learning
Yufei Jia, Heng Zhang, Ziheng Zhang +39
Embodied AI research is undergoing a shift toward vision-centric perceptual paradigms. While massively parallel simulators have catalyzed breakthroughs in proprioception-based loco…
FILIC: Dual-Loop Force-Guided Imitation Learning with Impedance Torque Control for Contact-Rich Manipulation Tasks
Haizhou Ge, Yufei Jia, Zheng Li +6
Many contact-rich manipulation tasks require precise force regulation. However, most imitation learning (IL) policies remain position-centric and lack explicit force awareness, and…
DISCOVERSE: Efficient Robot Simulation in Complex High-Fidelity Environments
Yufei Jia, Guangyu Wang, Yuhang Dong +17
We present the first unified, modular, open-source 3DGS-based simulation framework for Real2Sim2Real robot learning. It features a holistic Real2Sim pipeline that synthesizes hyper…
An Real-Sim-Real (RSR) Loop Framework for Generalizable Robotic Policy Transfer
Lu Shi, Yuxuan Xu, Shiyu Wang +6
The sim-to-real gap remains a critical challenge in robotics, hindering the deployment of algorithms trained in simulation to real-world systems. We propose a flexible Real-to-Sim-…
Bridging the Resource Gap: Deploying Advanced Imitation Learning Models onto Affordable Embedded Platforms
Haizhou Ge, Ruixiang Wang, Zhu-ang Xu +7
Advanced imitation learning with structures like the transformer is increasingly demonstrating its advantages in robotics. However, deploying these large-scale models on embedded p…
Robo-GS: A Physics Consistent Spatial-Temporal Model for Robotic Arm with Hybrid Representation
Haozhe Lou, Yurong Liu, Yike Pan +9
Real2Sim2Real plays a critical role in robotic arm control and reinforcement learning, yet bridging this gap remains a significant challenge due to the complex physical properties…
Arm-Constrained Curriculum Learning for Loco-Manipulation of the Wheel-Legged Robot
Zifan Wang, Yufei Jia, Lu Shi +6
Incorporating a robotic manipulator into a wheel-legged robot enhances its agility and expands its potential for practical applications. However, the presence of potential instabil…