7 papers
Stability-Driven Motion Generation for Object-Guided Human-Human Co-Manipulation
Jiahao Xu, Xiaohan Yuan, Xingchen Wu +3
Co-manipulation requires multiple humans to synchronize their motions with a shared object while ensuring reasonable interactions, maintaining natural poses, and preserving stable…
Contrastive Multi-Modal Hypergraph Reasoning for 3D Crowd Mesh Recovery
Minghao Sun, Chongyang Xu, Yitao Xie +2
Multi-person 3D reconstruction is pivotal for real-world interaction analysis, yet remains challenging due to severe occlusions and depth ambiguity. Current approaches typically re…
Ada3Drift: Adaptive Training-Time Drifting for One-Step 3D Visuomotor Robotic Manipulation
Chongyang Xu, Yixian Zou, Ziliang Feng +2
Diffusion-based visuomotor policies effectively capture multimodal action distributions through iterative denoising, but their high inference latency limits real-time robotic contr…
Action-Geometry Prediction with 3D Geometric Prior for Bimanual Manipulation
Chongyang Xu, Haipeng Li, Shen Cheng +4
Bimanual manipulation requires policies that can reason about 3D geometry, anticipate how it evolves under action, and generate smooth, coordinated motions. However, existing metho…
HeRO: Hierarchical 3D Semantic Representation for Pose-aware Object Manipulation
Chongyang Xu, Shen Cheng, Haipeng Li +3
Imitation learning for robotic manipulation has progressed from 2D image policies to 3D representations that explicitly encode geometry. Yet purely geometric policies often lack ex…
Reconstructing Close Human Interaction with Appearance and Proxemics Reasoning
Buzhen Huang, Chen Li, Chongyang Xu +4
Due to visual ambiguities and inter-person occlusions, existing human pose estimation methods cannot recover plausible close interactions from in-the-wild videos. Even state-of-the…