9 papers
RobotPan: A 360 Surround-View Robotic Vision System for Embodied Perception
Jiahao Ma, Qiang Zhang, Peiran Liu +11
Surround-view perception is increasingly important for robotic navigation and loco-manipulation, especially in human-in-the-loop settings such as teleoperation, data collection, an…
Rethinking Image-to-3D Generation with Sparse Queries: Efficiency, Capacity, and Input-View Bias
Zhiyuan Xu, Jiuming Liu, Yuxin Chen +3
We present SparseGen, a novel framework for efficient image-to-3D generation, which exhibits low input-view bias while being significantly faster. Unlike traditional approaches tha…
RoboGene: Boosting VLA Pre-training via Diversity-Driven Agentic Framework for Real-World Task Generation
Yixue Zhang, Kun Wu, Zhi Gao +12
The pursuit of general-purpose robotic manipulation is hindered by the scarcity of diverse, real-world interaction data. Unlike data collection from web in vision or language, robo…
RoboAug: One Annotation to Hundreds of Scenes via Region-Contrastive Data Augmentation for Robotic Manipulation
Xinhua Wang, Kun Wu, Zhen Zhao +10
Enhancing the generalization capability of robotic learning to enable robots to operate effectively in diverse, unseen scenes is a fundamental and challenging problem. Existing app…
CRAFT: Adapting VLA Models to Contact-rich Manipulation via Force-aware Curriculum Fine-tuning
Yike Zhang, Yaonan Wang, Xinxin Sun +6
Vision-Language-Action (VLA) models have shown a strong capability in enabling robots to execute general instructions, yet they struggle with contact-rich manipulation tasks, where…
TSPE-GS: Probabilistic Depth Extraction for Semi-Transparent Surface Reconstruction via 3D Gaussian Splatting
Zhiyuan Xu, Nan Min, Yuhang Guo +1
3D Gaussian Splatting offers a strong speed-quality trade-off but struggles to reconstruct semi-transparent surfaces because most methods assume a single depth per pixel, which fai…