4 papers
RobotSmith: Generative Robotic Tool Design for Acquisition of Complex Manipulation Skills
Chunru Lin, Haotian Yuan, Yian Wang +7
Endowing robots with tool design abilities is critical for enabling them to solve complex manipulation tasks that would otherwise be intractable. While recent generative frameworks…
TopoGaussian: Inferring Internal Topology Structures from Visual Clues
Xiaoyu Xiong, Changyu Hu, Chunru Lin +3
We present TopoGaussian, a holistic, particle-based pipeline for inferring the interior structure of an opaque object from easily accessible photos and videos as input. Traditional…
LuciBot: Automated Robot Policy Learning from Generated Videos
Xiaowen Qiu, Yian Wang, Jiting Cai +4
Automatically generating training supervision for embodied tasks is crucial, as manual designing is tedious and not scalable. While prior works use large language models (LLMs) or…
UBSoft: A Simulation Platform for Robotic Skill Learning in Unbounded Soft Environments
Chunru Lin, Jugang Fan, Yian Wang +6
It is desired to equip robots with the capability of interacting with various soft materials as they are ubiquitous in the real world. While physics simulations are one of the pred…