4 papers
RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twins
Yao Mu, Tianxing Chen, Zanxin Chen +11
In the rapidly advancing field of robotics, dual-arm coordination and complex object manipulation are essential capabilities for developing advanced autonomous systems. However, th…
DexHandDiff: Interaction-aware Diffusion Planning for Adaptive Dexterous Manipulation
Zhixuan Liang, Yao Mu, Yixiao Wang +6
Dexterous manipulation with contact-rich interactions is crucial for advanced robotics. While recent diffusion-based planning approaches show promise for simple manipulation tasks,…
MoLE: Enhancing Human-centric Text-to-image Diffusion via Mixture of Low-rank Experts
Jie Zhu, Yixiong Chen, Mingyu Ding +3
Text-to-image diffusion has attracted vast attention due to its impressive image-generation capabilities. However, when it comes to human-centric text-to-image generation, particul…
DCP: Learning Accelerator Dataflow for Neural Network via Propagation
Peng Xu, Wenqi Shao, Mingyu Ding +1
Deep neural network (DNN) hardware (HW) accelerators have achieved great success in improving DNNs' performance and efficiency. One key reason is dataflow in executing a DNN layer,…