5 papers
DC-Motion: Decoupling Structure and Details via Discrete-Continuous Tokens for Human Motion Generation
Hequan Wang, Xuean Chen, Jiaxu Zhang +2
Text-to-motion generation requires modeling both global action structure and fine-grained motion dynamics from natural language. Existing approaches typically rely on either contin…
AllDayNav: Lifelong Navigation via Real-World Reinforcement Learning
Hang Yin, Yinan Liang, Jiazhao Zhang +4
Lifelong embodied navigation in dynamic environments requires robots to form persistent scene understanding from fragmentary observations, which remains difficult for existing meth…
NavGSim: High-Fidelity Gaussian Splatting Simulator for Large-Scale Navigation
Jiahang Liu, Yuanxing Duan, Jiazhao Zhang +4
Simulating realistic environments for robots is widely recognized as a critical challenge in robot learning, particularly in terms of rendering and physical simulation. This challe…
FG-NeRF: Flow-GAN based Probabilistic Neural Radiance Field for Independence-Assumption-Free Uncertainty Estimation
Songlin Wei, Jiazhao Zhang, Yang Wang +3
Neural radiance fields with stochasticity have garnered significant interest by enabling the sampling of plausible radiance fields and quantifying uncertainty for downstream tasks.…
GAMMA: Graspability-Aware Mobile MAnipulation Policy Learning based on Online Grasping Pose Fusion
Jiazhao Zhang, Nandiraju Gireesh, Jilong Wang +5
Mobile manipulation constitutes a fundamental task for robotic assistants and garners significant attention within the robotics community. A critical challenge inherent in mobile m…