3 papers
cs.RO2026
Masked Generative Policy for Robotic Control
Lipeng Zhuang, Shiyu Fan, Florent P. Audonnet +4
We present Masked Generative Policy (MGP), a novel framework for visuomotor imitation learning. We represent actions as discrete tokens, and train a conditional masked transformer…
cs.CV2025
A Convolutional Neural Deferred Shader for Physics Based Rendering
Zhuo He, Yingdong Ru, Qianying Liu +2
Recent advances in neural rendering have achieved impressive results on photorealistic shading and relighting, by using a multilayer perceptron (MLP) as a regression model to learn…
cs.RO2025
Can Real-to-Sim Approaches Capture Dynamic Fabric Behavior for Robotic Fabric Manipulation?
Yingdong Ru, Lipeng Zhuang, Zhuo He +2
This paper presents a rigorous evaluation of Real-to-Sim parameter estimation approaches for fabric manipulation in robotics. The study systematically assesses three state-of-the-a…