8 papers
AffordSim: A Scalable Data Generator and Benchmark for Affordance-Aware Robotic Manipulation
Mingyang Li, Haofan Xu, Haowen Sun +10
Many everyday robot manipulation skills are affordance-dependent, with success determined by whether the robot contacts the functional object region required by the subsequent acti…
VoxAfford: Multi-Scale Voxel-Token Fusion for Open-Vocabulary 3D Affordance Detection
Haowen Sun, Shaolong Zhang, Mingyang Li +6
Open-vocabulary 3D affordance detection requires localizing interaction regions on point clouds given novel affordance descriptions. Recent methods extend multimodal large language…
GlobalSplat: Efficient Feed-Forward 3D Gaussian Splatting via Global Scene Tokens
Roni Itkin, Noam Issachar, Yehonatan Keypur +3
The efficient spatial allocation of primitives serves as the foundation of 3D Gaussian Splatting, as it directly dictates the synergy between representation compactness, reconstruc…
Greedy-based Value Representation for Optimal Coordination in Multi-agent Reinforcement Learning
Lipeng Wan, Zeyang Liu, Xingyu Chen +2
Due to the representation limitation of the joint Q value function, multi-agent reinforcement learning methods with linear value decomposition (LVD) or monotonic value decompositio…
Bridging Simulation and Reality: Cross-Domain Transfer with Semantic 2D Gaussian Splatting
Jian Tang, Pu Pang, Haowen Sun +4
Cross-domain transfer in robotic manipulation remains a longstanding challenge due to the significant domain gap between simulated and real-world environments. Existing methods suc…
PRISM: Projection-based Reward Integration for Scene-Aware Real-to-Sim-to-Real Transfer with Few Demonstrations
Haowen Sun, Han Wang, Chengzhong Ma +4
Learning from few demonstrations to develop policies robust to variations in robot initial positions and object poses is a problem of significant practical interest in robotics. Co…