5 papers
FreeFly-Thinking : Aligning Chain-of-Thought Reasoning with Continuous UAV Navigation
Jiaxu Zhou, Shaobo Wang, Zhiyuan Yang +2
Vision-Language Navigation aims to enable agents to understand natural language instructions and carry out appropriate navigation actions in real-world environments. Most work focu…
FBI: Learning Dexterous In-hand Manipulation with Dynamic Visuotactile Shortcut Policy
Yijin Chen, Wenqiang Xu, Zhenjun Yu +4
Dexterous in-hand manipulation is a long-standing challenge in robotics due to complex contact dynamics and partial observability. While humans synergize vision and touch for such…
AgentWorld: An Interactive Simulation Platform for Scene Construction and Mobile Robotic Manipulation
Yizheng Zhang, Zhenjun Yu, Jiaxin Lai +2
We introduce AgentWorld, an interactive simulation platform for developing household mobile manipulation capabilities. Our platform combines automated scene construction that encom…
Dynamic Reconstruction of Hand-Object Interaction with Distributed Force-aware Contact Representation
Zhenjun Yu, Wenqiang Xu, Pengfei Xie +4
We present ViTaM-D, a novel visual-tactile framework for reconstructing dynamic hand-object interaction with distributed tactile sensing to enhance contact modeling. Existing metho…
DexTOG: Learning Task-Oriented Dexterous Grasp with Language
Jieyi Zhang, Wenqiang Xu, Zhenjun Yu +3
This study introduces a novel language-guided diffusion-based learning framework, DexTOG, aimed at advancing the field of task-oriented grasping (TOG) with dexterous hands. Unlike…