4 papers
DexH2R: A Benchmark for Dynamic Dexterous Grasping in Human-to-Robot Handover
Youzhuo Wang, Jiayi Ye, Chuyang Xiao +6
Handover between a human and a dexterous robotic hand is a fundamental yet challenging task in human-robot collaboration. It requires handling dynamic environments and a wide varie…
A Survey: Learning Embodied Intelligence from Physical Simulators and World Models
Xiaoxiao Long, Qingrui Zhao, Kaiwen Zhang +15
The pursuit of artificial general intelligence (AGI) has placed embodied intelligence at the forefront of robotics research. Embodied intelligence focuses on agents capable of perc…
FreqPolicy: Frequency Autoregressive Visuomotor Policy with Continuous Tokens
Yiming Zhong, Yumeng Liu, Chuyang Xiao +7
Learning effective visuomotor policies for robotic manipulation is challenging, as it requires generating precise actions while maintaining computational efficiency. Existing metho…
EasyHOI: Unleashing the Power of Large Models for Reconstructing Hand-Object Interactions in the Wild
Yumeng Liu, Xiaoxiao Long, Zemin Yang +5
Our work aims to reconstruct hand-object interactions from a single-view image, which is a fundamental but ill-posed task. Unlike methods that reconstruct from videos, multi-view i…