2 citations · 2 across the 7 of their papers we have counts for
6 papers · 1 filter
SIMPLE: Simulation-Based Policy Learning and Evaluation for Humanoid Loco-manipulation
Songlin Wei, Zhenhao Ni, Jie Liu +9
Humanoid foundation models are advancing faster than we can evaluate them. While real-world testing is expensive and difficult to reproduce, existing simulation benchmarks focus pr…
HumDex: Humanoid Dexterous Manipulation Made Easy
Liang Heng, Yihe Tang, Jiajun Xu +3
This paper investigates humanoid whole-body dexterous manipulation, where the efficient collection of high-quality demonstration data remains a central bottleneck. Existing teleope…
Imagine2Act: Leveraging Object-Action Motion Consistency from Imagined Goals for Robotic Manipulation
Liang Heng, Jiadong Xu, Yiwen Wang +6
Relational object rearrangement (ROR) tasks (e.g., insert flower to vase) require a robot to manipulate objects with precise semantic and geometric reasoning. Existing approaches e…
RwoR: Generating Robot Demonstrations from Human Hand Collection for Policy Learning without Robot
Liang Heng, Xiaoqi Li, Shangqing Mao +9
Recent advancements in imitation learning have shown promising results in robotic manipulation, driven by the availability of high-quality training data. To improve data collection…
ViTacFormer: Learning Cross-Modal Representation for Visuo-Tactile Dexterous Manipulation
Liang Heng, Haoran Geng, Kaifeng Zhang +2
Dexterous manipulation is a cornerstone capability for robotic systems aiming to interact with the physical world in a human-like manner. Although vision-based methods have advance…
MoLe-VLA: Dynamic Layer-skipping Vision Language Action Model via Mixture-of-Layers for Efficient Robot Manipulation
Rongyu Zhang, Menghang Dong, Yuan Zhang +6
Multimodal Large Language Models (MLLMs) excel in understanding complex language and visual data, enabling generalist robotic systems to interpret instructions and perform embodied…