5 papers
UniLab: A Heterogeneous Architecture for Robot RL Beyond GPU-Dominant Paradigms
Yufei Jia, Zhanxiang Cao, Mingrui Yu +48
Simulation-based RL for contemporary robot control is increasingly organized around GPU-resident simulation: physics, rollout collection, and learning are placed on a single GPU-ce…
MUVLA: Learning to Explore Object Navigation via Map Understanding
Peilong Han, Fan Jia, Min Zhang +5
In this paper, we present MUVLA, a Map Understanding Vision-Language-Action model tailored for object navigation. It leverages semantic map abstractions to unify and structure hist…
RoboGSim: A Real2Sim2Real Robotic Gaussian Splatting Simulator
Xinhai Li, Jialin Li, Ziheng Zhang +6
Efficient acquisition of real-world embodied data has been increasingly critical. However, large-scale demonstrations captured by remote operation tend to take extremely high costs…
RoboMatrix: A Skill-centric Hierarchical Framework for Scalable Robot Task Planning and Execution in Open-World
Weixin Mao, Weiheng Zhong, Zhou Jiang +8
Existing robot policies predominantly adopt the task-centric approach, requiring end-to-end task data collection. This results in limited generalization to new tasks and difficulti…
SegGrasp: Zero-Shot Task-Oriented Grasping via Semantic and Geometric Guided Segmentation
Haosheng Li, Weixin Mao, Weipeng Deng +7
Task-oriented grasping, which involves grasping specific parts of objects based on their functions, is crucial for developing advanced robotic systems capable of performing complex…