8 papers
ADAPT: Agile Diffusion Action Priors for Robust and Steerable Online Text-Driven Humanoid Control
Yan Wu, Chenhao Li, Kaifeng Zhao +3
We present ADAPT, an end-to-end framework for interactive, text-conditioned humanoid whole-body control. Unlike dominant text-to-motion pipelines that generate kinematic motions fo…
MANGO-Grasp: Mahalanobis Fields over Geometry-Oriented 3D Gaussians for Cross-Embodiment Dexterous Grasping
Heng Zhang, Kevin Yuchen Ma, Mike Zheng Shou +2
Cross-embodiment dexterous grasping aims to synthesize stable grasps across heterogeneous multi-fingered hands with little or no embodiment-specific tuning. Existing interaction-ce…
VistaVLA: Geometry- and Semantic-Aware 3D Gaussian-Grounded VLA for Robotic Manipulation
Mohan Liu, Zhihao Gu, Xuanyu Chen +5
Vision-Language-Action (VLA) models have emerged as a powerful end-to-end paradigm for robotic manipulation by mapping language instructions and 2D visual inputs directly to action…
EAGOR: Embodied Reasoning in Omni-direction
Shriram Damodaran, Soumyaratna Debnath, Yan Wu +2
Omni-directional (360°) cameras provide embodied agents with a holistic view of their surroundings, making them suited for directional reasoning in tasks such as navigation and obj…
NaP-Control: Navigating Diffusion Prior for Versatile and Fast Character Control
Chia-Wen Chen, Yan Wu, Korrawe Karunratanakul +1
Achieving precise, versatile whole-body character control in physics-based animation remains challenging. Recent diffusion-based policies generate rich and expressive motions but t…
Semantic-Contact Fields for Category-Level Generalizable Tactile Tool Manipulation
Kevin Yuchen Ma, Heng Zhang, Weisi Lin +2
Generalizing tool manipulation requires both semantic planning and precise physical control. Modern generalist robot policies, such as Vision-Language-Action (VLA) models, often la…
MachaGrasp: Morphology-Aware Cross-Embodiment Dexterous Hand Articulation Generation for Grasping
Heng Zhang, Kevin Yuchen Ma, Mike Zheng Shou +2
Dexterous grasping with multi-fingered hands remains challenging due to high-dimensional articulations and the cost of optimization-based pipelines. Existing end-to-end methods req…
UniPhys: Unified Planner and Controller with Diffusion for Flexible Physics-Based Character Control
Yan Wu, Korrawe Karunratanakul, Zhengyi Luo +1
Generating natural and physically plausible character motion remains challenging, particularly for long-horizon control with diverse guidance signals. While prior work combines hig…