18 papers
SkillMemo: Expert-guided Skill Memory Framework for Compositional Embodied Manipulation
Changyuan Wang, Chubin Zhang, Zhenyu Wu +8
Embodied visuomotor models, including Diffusion Policy (DP) and Vision-Language-Action (VLA) models, have demonstrated promising performance on robotic manipulation benchmarks. How…
ShapeGen: Robotic Data Generation for Category-Level Manipulation
Yirui Wang, Xiuwei Xu, Angyuan Ma +3
Manipulation policies deployed in uncontrolled real-world scenarios are faced with great in-category geometric diversity of everyday objects. In order to function robustly under su…
F2F-AP: Flow-to-Future Asynchronous Policy for Real-time Dynamic Manipulation
Haoyu Wei, Xiuwei Xu, Ziyang Cheng +5
Asynchronous inference has emerged as a prevalent paradigm in robotic manipulation, achieving significant progress in ensuring trajectory smoothness and efficiency. However, a syst…
CMP: Robust Whole-Body Tracking for Loco-Manipulation via Competence Manifold Projection
Ziyang Cheng, Haoyu Wei, Hang Yin +4
While decoupled control schemes for legged mobile manipulators have shown robustness, learning holistic whole-body control policies for tracking global end-effector poses remains f…
iGaussian: Real-Time Camera Pose Estimation via Feed-Forward 3D Gaussian Splatting Inversion
Hao Wang, Linqing Zhao, Xiuwei Xu +2
Recent trends in SLAM and visual navigation have embraced 3D Gaussians as the preferred scene representation, highlighting the importance of estimating camera poses from a single i…
GC-VLN: Instruction as Graph Constraints for Training-free Vision-and-Language Navigation
Hang Yin, Haoyu Wei, Xiuwei Xu +3
In this paper, we propose a training-free framework for vision-and-language navigation (VLN). Existing zero-shot VLN methods are mainly designed for discrete environments or involv…