1 citations · 1 across the 8 of their papers we have counts for
9 papers
One from Infinity: Actualizing Futures from Pretrained World Models into Robot Actions
Bang Du, Yichen Xie, Shuqi Zhao +3
A pretrained video world model admits many plausible futures for a scene, but a robot must realize the exact task-conditioned one. To turn world models into executable robot polici…
CARF: Contrastive Attraction-Repulsion of Failure-Guided Flow Matching
Shuqi Zhao, Bang Du, Cheng-En Wu +3
Robot demonstration collection often produces imperfect or failed trajectories in addition to successful demonstrations. Existing methods typically exploit failed trajectories by i…
Grounding Generated Video Plans in Simulation Towards Versatile Dexterous Controllers
Tianyue Wu, Boyuan An, Shuqi Zhao +6
Generated hand-object interaction (HOI) videos provide a controllable way to propose manipulation motions. Simulation-based HOI tracking can translate such kinematic references int…
DexVerse: A Modular Benchmark for Multi-Task, Multi-Embodiment Dexterous Manipulation
Yunchao Yao, Zhuxiu Xu, Tianqi Zhang +12
Building general-purpose dexterous manipulation policies requires benchmarks that go beyond isolated tasks to systematically evaluate policies across diverse interaction modes, sen…
Multi-Camera View Scaling for Data-Efficient Robot Imitation Learning
Yichen Xie, Yixiao Wang, Shuqi Zhao +4
The generalization ability of imitation learning policies for robotic manipulation is fundamentally constrained by the diversity of expert demonstrations, while collecting demonstr…
DexCtrl: Towards Sim-to-Real Dexterity with Adaptive Controller Learning
Shuqi Zhao, Ke Yang, Yuxin Chen +5
Dexterous manipulation has seen remarkable progress in recent years, with policies capable of executing many complex and contact-rich tasks in simulation. However, transferring the…
X-Drive: Cross-modality consistent multi-sensor data synthesis for driving scenarios
Yichen Xie, Chenfeng Xu, Chensheng Peng +6
Recent advancements have exploited diffusion models for the synthesis of either LiDAR point clouds or camera image data in driving scenarios. Despite their success in modeling sing…
DexH2R: Task-oriented Dexterous Manipulation from Human to Robots
Shuqi Zhao, Xinghao Zhu, Yuxin Chen +5
Dexterous manipulation is a critical aspect of human capability, enabling interaction with a wide variety of objects. Recent advancements in learning from human demonstrations and…
PhyGrasp: Generalizing Robotic Grasping with Physics-informed Large Multimodal Models
Dingkun Guo, Yuqi Xiang, Shuqi Zhao +4
Robotic grasping is a fundamental aspect of robot functionality, defining how robots interact with objects. Despite substantial progress, its generalizability to counter-intuitive…