7 papers
C2Dex: Contact-Consistent Reconstruction and Retargeting for Dexterous Manipulation from Monocular Video
Jie Ren, Zhehao Jiang, Yinhong Yang +9
High-quality demonstrations for dexterous robot manipulation are costly and difficult to collect, whereas monocular human videos provide a scalable source of diverse manipulation b…
Make Tracking Easy: Neural Motion Retargeting for Humanoid Whole-body Control
Qingrui Zhao, Kaiyue Yang, Xiyu Wang +6
Humanoid robots require diverse motor skills to integrate into complex environments, but bridging the kinematic and dynamic embodiment gap from human data remains a major bottlenec…
PEAfowl: Perception-Enhanced Multi-View Vision-Language-Action for Bimanual Manipulation
Qingyu Fan, Zhaoxiang Li, Yi Lu +7
Bimanual manipulation in cluttered scenes requires policies that remain stable under occlusions, viewpoint and scene variations. Existing vision-language-action models often fail t…
SpatialVID: A Large-Scale Video Dataset with Spatial Annotations
Jiahao Wang, Yufeng Yuan, Rujie Zheng +12
Significant progress has been made in spatial intelligence, spanning both spatial reconstruction and world exploration. However, the scalability and real-world fidelity of current…
Pressure2Motion: Hierarchical Human Motion Reconstruction from Ground Pressure with Text Guidance
Zhengxuan Li, Qinhui Yang, Yiyu Zhuang +7
We present Pressure2Motion, a novel motion capture algorithm that reconstructs human motion from a ground pressure sequence and text prompt. At inference time, Pressure2Motion requ…
ComGS: Efficient 3D Object-Scene Composition via Surface Octahedral Probes
Jian Gao, Mengqi Yuan, Yifei Zeng +8
Gaussian Splatting (GS) enables immersive rendering, but realistic 3D object-scene composition remains challenging. Baked appearance and shadow information in GS radiance fields ca…