4 papers
SUN: Persistent Programs For Language-Grounded Control-to-Learning-to-Real Policies
Weiqi Wang, Zhi Li, Yudong Lei +7
Bridging model-based control and learned policies in long-horizon manipulation has harbored a silent disagreement: control executes specified objectives, learning amortizes that be…
Sparse2Act: Learning Action-Aligned Sparse 3D Representations for Cross-Domain Robot Manipulation
Yu Guo, Chang Yu, Siyu Ma +4
Explicit 3D representations are attractive for manipulation because they expose object shape, workspace geometry, and robot-object relations in metric coordinates. However, sparse…
Enhancing Table Reasoning with Deterministic Table-State Rewards
Tung Sum Thomas Kwok, Xinyu Wang, Hengzhi He +9
Large Language Models (LLMs) struggle with multi-step reasoning over structured tables. The primary reason is the lack of explicit supervision for intermediate reasoning states. Ex…
Atlas3D: Physically Constrained Self-Supporting Text-to-3D for Simulation and Fabrication
Yunuo Chen, Tianyi Xie, Zeshun Zong +5
Existing diffusion-based text-to-3D generation methods primarily focus on producing visually realistic shapes and appearances, often neglecting the physical constraints necessary f…