1 citations · 1 across the 7 of their papers we have counts for
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X-NavDP: Generalizing Navigation Diffusion Policy to Novel Behavior and Embodiments with Group Q-score Reweighted Matching
Tianyu Yang, Yiming Zeng, Wenzhe Cai +5
Pretraining navigation diffusion policies rely on large-scale expert demonstrations. These data are typically generated by a fully-informed oracle planner suited to a single nomina…
Fisher-Preserving Guidance: Training-Free Manifold Constraints for Safe Diffusion Control
Hao Ren, Zetong Bi, Yiming Zeng +5
Diffusion models are effective for waypoint prediction in visual navigation, but standard sampling and test time guidance can produce unreliable or inefficient trajectories when up…
RAPID Hand: A Robust, Affordable, Perception-Integrated, Dexterous Manipulation Platform for Generalist Robot Autonomy
Zhaoliang Wan, Zetong Bi, Zida Zhou +7
This paper addresses the scarcity of low-cost but high-dexterity platforms for collecting real-world multi-fingered robot manipulation data towards generalist robot autonomy. To ac…
Prior Does Matter: Visual Navigation via Denoising Diffusion Bridge Models
Hao Ren, Yiming Zeng, Zetong Bi +3
Recent advancements in diffusion-based imitation learning, which show impressive performance in modeling multimodal distributions and training stability, have led to substantial pr…
NaviDiffusor: Cost-Guided Diffusion Model for Visual Navigation
Yiming Zeng, Hao Ren, Shuhang Wang +2
Visual navigation, a fundamental challenge in mobile robotics, demands versatile policies to handle diverse environments. Classical methods leverage geometric solutions to minimize…
OPG-Policy: Occluded Push-Grasp Policy Learning with Amodal Segmentation
Hao Ding, Yiming Zeng, Zhaoliang Wan +1
Goal-oriented grasping in dense clutter, a fundamental challenge in robotics, demands an adaptive policy to handle occluded target objects and diverse configurations. Previous meth…