4 papers
WAM-OPD: Sharpening World Action Models via On-Policy Distillation
Panjun Liu, Xiaohan Lei, Shiqi Zhang +8
Pretrained world action models (WAMs) provide generalist capabilities across diverse robotic manipulation tasks, yet improving target-task performance to an expert level without de…
Structural Action Transformer for 3D Dexterous Manipulation
Xiaohan Lei, Min Wang, Bohong Weng +2
Achieving human-level dexterity in robots via imitation learning from heterogeneous datasets is hindered by the challenge of cross-embodiment skill transfer, particularly for high-…
Primary-Fine Decoupling for Action Generation in Robotic Imitation
Xiaohan Lei, Min Wang, Wengang Zhou +2
Multi-modal distribution in robotic manipulation action sequences poses critical challenges for imitation learning. To this end, existing approaches often model the action space as…
GaussNav: Gaussian Splatting for Visual Navigation
Xiaohan Lei, Min Wang, Wengang Zhou +1
In embodied vision, Instance ImageGoal Navigation (IIN) requires an agent to locate a specific object depicted in a goal image within an unexplored environment. The primary challen…