6 papers
Abstraction Generation for Generalized Planning with Pretrained Large Language Models
Zhenhe Cui, Huaxiang Xia, Hangjun Shen +3
Qualitative Numerical Planning (QNP) serves as an important abstraction model for generalized planning (GP), which aims to compute general plans that solve multiple instances at on…
Sim-and-Human Co-training for Data-Efficient and Generalizable Robotic Manipulation
Kaipeng Fang, Weiqing Liang, Yuyang Li +5
Synthetic simulation data and real-world human data provide scalable alternatives to circumvent the prohibitive costs of robot data collection. However, these sources suffer from t…
Human Motion Estimation with Everyday Wearables
Siqi Zhu, Yixuan Li, Junfu Li +4
While on-body device-based human motion estimation is crucial for applications such as XR interaction, existing methods often suffer from poor wearability, expensive hardware, and…
DogMo: A Large-Scale Multi-View RGB-D Dataset for 4D Canine Motion Recovery
Zan Wang, Siyu Chen, Luya Mo +4
We present DogMo, a large-scale multi-view RGB-D video dataset capturing diverse canine movements for the task of motion recovery from images. DogMo comprises 1.2k motion sequences…
FloNa: Floor Plan Guided Embodied Visual Navigation
Jiaxin Li, Weiqi Huang, Zan Wang +3
Humans naturally rely on floor plans to navigate in unfamiliar environments, as they are readily available, reliable, and provide rich geometrical guidance. However, existing visua…
R2G: Reasoning to Ground in 3D Scenes
Yixuan Li, Zan Wang, Wei Liang
We propose Reasoning to Ground (R2G), a neural symbolic model that grounds the target objects within 3D scenes in a reasoning manner. In contrast to prior works, R2G explicitly mod…