8 papers
Generative Control as Optimization: Time Unconditional Flow Matching for Adaptive and Robust Robotic Control
Zunzhe Zhang, Runhan Huang, Yicheng Liu +3
Diffusion models and flow matching have become a cornerstone of robotic imitation learning, yet they suffer from a structural inefficiency where inference is often bound to a fixed…
TTT-Parkour: Rapid Test-Time Training for Perceptive Robot Parkour
Shaoting Zhu, Baijun Ye, Jiaxuan Wang +5
Achieving highly dynamic humanoid parkour on unseen, complex terrains remains a challenge in robotics. Although general locomotion policies demonstrate capabilities across broad te…
DIMO: Diverse 3D Motion Generation for Arbitrary Objects
Linzhan Mou, Jiahui Lei, Chen Wang +2
We present DIMO, a generative approach capable of generating diverse 3D motions for arbitrary objects from a single image. The core idea of our work is to leverage the rich priors…
VR-Robo: A Real-to-Sim-to-Real Framework for Visual Robot Navigation and Locomotion
Shaoting Zhu, Linzhan Mou, Derun Li +3
Recent success in legged robot locomotion is attributed to the integration of reinforcement learning and physical simulators. However, these policies often encounter challenges whe…
Painting 3D Nature in 2D: View Synthesis of Natural Scenes from a Single Semantic Mask
Shangzan Zhang, Sida Peng, Tianrun Chen +5
We introduce a novel approach that takes a single semantic mask as input to synthesize multi-view consistent color images of natural scenes, trained with a collection of single ima…
SARO: Space-Aware Robot System for Terrain Crossing via Vision-Language Model
Shaoting Zhu, Derun Li, Linzhan Mou +3
The application of vision-language models (VLMs) has achieved impressive success in various robotics tasks. However, there are few explorations for these foundation models used in…