3 papers
cs.RO2026
X2Real: an eXtensive simulation benchmark for real-world generalist policies
Lian Ruan, Jade Yang, Sherphylan Gao +23
Generalist robot manipulation policies have developed rapidly, yet their reliable evaluation remains challenging due to fundamental flaws in existing simulation benchmarks: promine…
cs.RO2025
GATO: GPU-Accelerated and Batched Trajectory Optimization for Scalable Edge Model Predictive Control
Alexander Du, Emre Adabag, Gabriel Bravo-Palacios +1
While Model Predictive Control (MPC) delivers strong performance across robotics applications, solving the underlying (batches of) nonlinear trajectory optimization (TO) problems o…
cs.CV2025
A Novel Convolution and Attention Mechanism-based Model for 6D Object Pose Estimation
Alexander Du, Xiujin Liu
This paper proposes PoseLecTr, a graph-based encoder-decoder framework that integrates a novel Legendre convolution with attention mechanisms for six-degree-of-freedom (6-DOF) obje…