5 papers · 1 filter
RoboPCA: Pose-centered Affordance Learning from Human Demonstrations for Robot Manipulation
Zhanqi Xiao, Ruiping Wang, Xilin Chen
Understanding spatial affordances -- comprising the contact regions of object interaction and the corresponding contact poses -- is essential for robots to effectively manipulate o…
Uni-Skill: Building Self-Evolving Skill Repository for Generalizable Robotic Manipulation
Senwei Xie, Yuntian Zhang, Ruiping Wang +1
While skill-centric approaches leverage foundation models to enhance generalization in compositional tasks, they often rely on fixed skill libraries, limiting adaptability to new t…
BitVLA: 1-bit Vision-Language-Action Models for Robotics Manipulation
Hongyu Wang, Chuyan Xiong, Ruiping Wang +1
Deploying powerful Vision-Language-Action (VLA) models on edge devices is limited by their massive size. In this paper, we take a deployment-oriented view of VLA training: we targe…
GS-LTS: 3D Gaussian Splatting-Based Adaptive Modeling for Long-Term Service Robots
Bin Fu, Jialin Li, Bin Zhang +2
3D Gaussian Splatting (3DGS) has garnered significant attention in robotics for its explicit, high fidelity dense scene representation, demonstrating strong potential for robotic a…
Robotic Programmer: Video Instructed Policy Code Generation for Robotic Manipulation
Senwei Xie, Hongyu Wang, Zhanqi Xiao +2
Zero-shot generalization across various robots, tasks and environments remains a significant challenge in robotic manipulation. Policy code generation methods use executable code t…