7 papers
LIBERO-Dynamic: Benchmarking Robotic Manipulation in Dynamic Environments
Shaojie Ren, Jingwen Sun, Zezhi Liu +4
Most simulation benchmarks for robotic manipulation keep target objects static and treat policy inference as instantaneous. These assumptions simplify evaluation but hide how a mov…
ForceWAM: Decoupling Future and Response Learning from Demo and Play Data for Contact-Rich Manipulation
Zijun Xu, Wendi Chen, Xinkai Wang +16
Expert demonstrations show how to complete contact-rich tasks, but provide limited coverage of how interaction forces respond to different actions. Task-agnostic play provides broa…
Homogenization of an optimal control problem for a Navier-Stokes-Cahn-Hilliard system in a 3D perforated domain
Amartya Chakrabortty, Haradhan Dutta, Hari Shankar Mahato
We study the homogenization of an optimal control problem governed by a Navier-Stokes-Cahn-Hilliard system in a periodically perforated three-dimensional domain. The obstacles are…
CAP: Continuously Adaptive Perception-Blind Humanoid Locomotion via Learned Denoising
Hongjin Chen, Zijun Xu, Shihao Ma +8
Humanoid locomotion across complex terrain demands forward-looking exteroception to anticipate obstacles, yet this signal is unreliable in real-world deployment, failing partially…
WorldMAP: Bootstrapping Vision-Language Navigation Trajectory Prediction with Generative World Models
Hongjin Chen, Shangyun Jiang, Tonghua Su +4
Vision-language models (VLMs) and generative world models are opening new opportunities for embodied navigation. VLMs are increasingly used as direct planners or trajectory predict…
CMoE: Contrastive Mixture of Experts for Motion Control and Terrain Adaptation of Humanoid Robots
Shihao Ma, Hongjin Chen, Zijun Xu +6
For effective deployment in real-world environments, humanoid robots must autonomously navigate a diverse range of complex terrains with abrupt transitions. While the Vanilla mixtu…
Rhythm: Learning Interactive Whole-Body Control for Dual Humanoids
Hongjin Chen, Wei Zhang, Pengfei Li +10
Realizing interactive whole-body control for multi-humanoid systems is critical for unlocking complex collaborative capabilities in shared environments. Although recent advancement…