10 papers
CFG-Policy: Unified Diffusion Policy Learning Framework via Classifier-free Guidance
Shutong Ding, Zhaoyang Liu, Yimiao Zhou +3
Diffusion policies are increasingly used in robotic control and manipulation, vision-language-action models, and world-model-based agents. Their ability to represent multimodal act…
Toward Visually Realistic Simulation: A Benchmark for Evaluating Robot Manipulation in Simulation
Yixin Zhu, Zixiong Wang, Jian Yang +4
Reliable simulation evaluation of robot manipulation policies serves as a high-fidelity proxy for real-world performance. Although existing benchmarks cover a wide range of task ca…
SPREAD: Spatial-Physical REasoning via geometry Aware Diffusion
Minzhang Li, Kuixiang Shao, Xuebing Li +6
Automated 3D scene generation is pivotal for applications spanning virtual reality, digital content creation, and Embodied AI. While computer graphics prioritizes aesthetic layouts…
PARSE: Part-Aware Relational Spatial Modeling
Yinuo Bai, Peijun Xu, Kuixiang Shao +5
Inter-object relations underpin spatial intelligence, yet existing representations -- linguistic prepositions or object-level scene graphs -- are too coarse to specify which region…
XDen-1K: A Density Field Dataset of Real-World Objects
Jingxuan Zhang, Tianqi Yu, Yatu Zhang +6
A deep understanding of the physical world is essential for robotic manipulation and physically realistic simulation. While current methods, including VLM-based and other learning-…
PartNeXt: A Next-Generation Dataset for Fine-Grained and Hierarchical 3D Part Understanding
Penghao Wang, Yiyang He, Xin Lv +4
Understanding objects at the level of their constituent parts is fundamental to advancing computer vision, graphics, and robotics. While datasets like PartNet have driven progress…
DreamPolicy: A Unified World-model Policy for Scalable Humanoid Locomotion
Yahao Fan, Tianxiang Gui, Kaiyang Ji +8
Achieving versatile humanoid locomotion with a single policy presents a critical scalability challenge. Prevailing methods often rely on distilling multiple terrain-specific teache…
ExFace: Expressive Facial Control for Humanoid Robots with Diffusion Transformers and Bootstrap Training
Dong Zhang, Jingwei Peng, Yuyang Jiao +3
This paper presents a novel Expressive Facial Control (ExFace) method based on Diffusion Transformers, which achieves precise mapping from human facial blendshapes to bionic robot…
CAST: Component-Aligned 3D Scene Reconstruction from an RGB Image
Kaixin Yao, Longwen Zhang, Xinhao Yan +6
Recovering high-quality 3D scenes from a single RGB image is a challenging task in computer graphics. Current methods often struggle with domain-specific limitations or low-quality…
AffordDP: Generalizable Diffusion Policy with Transferable Affordance
Shijie Wu, Yihang Zhu, Yunao Huang +5
Diffusion-based policies have shown impressive performance in robotic manipulation tasks while struggling with out-of-domain distributions. Recent efforts attempted to enhance gene…