5 papers
RealDexUMI: A Wearable Universal Manipulation Interface for Dexterous Robot Learning
Chaoyi Xu, Yixuan Jiang, Jiahui Huan +7
Learning dexterous manipulation requires demonstrations that preserve fine hand-object interactions while remaining executable at deployment. Existing pipelines either lose deploya…
Preserving Continuous Symmetry in Discrete Spaces: Geometric-Aware Quantization for SO(3)-Equivariant GNNs
Haoyu Zhou, Ping Xue, Hao Zhang +1
Equivariant Graph Neural Networks (GNNs) are essential for physically consistent molecular simulations but suffer from high computational costs and memory bottlenecks, especially w…
Quantized SO(3)-Equivariant Graph Neural Networks for Efficient Molecular Property Prediction
Haoyu Zhou, Ping Xue, Hao Zhang +1
Deploying 3D graph neural networks (GNNs) that are equivariant to 3D rotations (the group SO(3)) on edge devices is challenging due to their high computational cost. This paper add…
Open TeleDex: A Hardware-Agnostic Teleoperation System for Imitation Learning based Dexterous Manipulation
Xu Chi, Chao Zhang, Yang Su +7
Accurate and high-fidelity demonstration data acquisition is a critical bottleneck for deploying robot Imitation Learning (IL) systems, particularly when dealing with heterogeneous…
The Optimal Condition Number for ReLU Function
Yu Xia, Haoyu Zhou
ReLU is a widely used activation function in deep neural networks. This paper explores the stability properties of the ReLU map. For any weight matrix $\boldsymbol{A} \in \mathbb{R…