4 papers
DexGraspFlow: Topology-Aware SE(3) Flow Matching for Cross-Embodiment Dexterous Grasp Generation
Bin Zhou, Boyu Ma, Xinyu Zhou +5
Differences in hand geometry, joint parameterization, and kinematic topology pose challenges for cross-embodiment dexterous grasp generation. However, spatial relations among links…
FreeSpeed: Training-Free Speed Control for Generative Robot Policies
Yuxuan Hu, Shilin Shan, Qiheng Wang +4
Online control of execution speed is essential for deploying robot policies in real-world scenarios, as robots may need to speed up under time constraints or slow down to facilitat…
Dual-Process Atomic Skill Learning: Decoupling Semantic Reasoning and Real-Time Control
Jun Chen, Erdent Bao, Erdemt Bao +8
Language-conditioned Imitation Learning (IL) is essential for enabling robots to perform complex tasks following natural language instructions. However, generalizing to multi-step…
Action-Prior Denoising for Smooth Real-Time Chunking
Dongyang Liu, Zhaowen Zheng, Yu Sun +3
Real-time chunking (RTC) lets chunked action policies operate under inference delay by conditioning a newly generated action chunk on actions already committed by the previous chun…