13 papers
Rectified Schrödinger Bridge Matching for Few-Step Visual Navigation
Wuyang Luan, Junhui Li, Weiguang Zhao +3
Visual navigation is a core challenge in Embodied AI, requiring autonomous agents to translate high-dimensional sensory observations into continuous, long-horizon action trajectori…
Towards Robotic Dexterous Hand Intelligence: A Survey
Weiguang Zhao, Tian Liang, Xihao Guo +3
Robotic dexterous hands are central to contact-rich manipulation, with rapid progress driven by advances in hardware, sensing, control, simulation, and data generation. However, ex…
SnapFlow: One-Step Action Generation for Flow-Matching VLAs via Progressive Self-Distillation
Wuyang Luan, Junhui Li, Weiguang Zhao +3
Vision-Language-Action (VLA) models based on flow matching -- such as pi0, pi0.5, and SmolVLA -- achieve state-of-the-art generalist robotic manipulation, yet their iterative denoi…
Tele-Catch: Adaptive Teleoperation for Dexterous Dynamic 3D Object Catching
Weiguang Zhao, Junting Dong, Rui Zhang +3
Teleoperation is a key paradigm for transferring human dexterity to robots, yet most prior work targets objects that are initially static, such as grasping or manipulation. Dynamic…
TrajVG: 3D Trajectory-Coupled Visual Geometry Learning
Xingyu Miao, Weiguang Zhao, Tao Lu +5
Feed-forward multi-frame 3D reconstruction models often degrade on videos with object motion. Global-reference becomes ambiguous under multiple motions, while the local pointmap re…
SynthVerse: A Large-Scale Diverse Synthetic Dataset for Point Tracking
Weiguang Zhao, Haoran Xu, Xingyu Miao +11
Point tracking aims to follow visual points through complex motion, occlusion, and viewpoint changes, and has advanced rapidly with modern foundation models. Yet progress toward ge…