6 papers
MotionForge: A Data Generation Pipeline and Large-Scale Benchmark for Long-Horizon Manipulation of Dynamic Objects with Domain Shifts
Mohan Liu, Dengchen Mei, Haotian Xian +7
Recent advances in learning-based robot policies have demonstrated promising progress, yet they are predom- inantly evaluated in static or quasi-static environments. In dynamic man…
Cognitive Action Reasoning for Proactive Robots from Human-Centered Multimodal Observations
Zhihao Gu, Kechao Zhu, Yuanfeng Wu +7
Robots operating in human-centered environments are typically designed to execute explicit instructions, and most robot-learning datasets likewise pair observations with task instr…
VistaVLA: Geometry- and Semantic-Aware 3D Gaussian-Grounded VLA for Robotic Manipulation
Mohan Liu, Zhihao Gu, Xuanyu Chen +5
Vision-Language-Action (VLA) models have emerged as a powerful end-to-end paradigm for robotic manipulation by mapping language instructions and 2D visual inputs directly to action…
UMSS: Towards Unsupervised Multi-modal Semantic Segmentation
Haitian Zhang, Thai Duy Nguyen, Xiangyuan Wang +2
Multimodal semantic segmentation (MSS) is essential for robust perception in complex environments, yet its potential remains largely untapped because of the prohibitive cost of hum…
Physics-Guided Biomechanical Gait Adaptation for Humanoid Locomotion on Extreme Sloped Terrains
Xuanyu Chen, Mohan Liu, Dengchen Mei +6
Model-free reinforcement learning has enabled impressive humanoid locomotion; however, control on steep slopes remains largely unexplored. Unlike flat or discrete terrains, sloped…
Physics-Informed Policy Optimization via Analytic Dynamics Regularization
Namai Chandra, Liu Mohan, Zhihao Gu +1
Reinforcement learning (RL) has achieved strong performance in robotic control; however, state-of-the-art policy learning methods, such as actor-critic methods, still suffer from h…