5 papers
DemoBot: Efficient Learning of Bimanual Manipulation with Dexterous Hands From Third-Person Human Videos
Yucheng Xu, Xiaofeng Mao, Elle Miller +4
This work presents DemoBot, a learning framework that enables a dual-arm, multi-finger robotic system to acquire complex manipulation skills from a single unannotated RGB-D video d…
3D Feature Distillation with Object-Centric Priors
Georgios Tziafas, Yucheng Xu, Zhibin Li +1
Grounding natural language to the physical world is a ubiquitous topic with a wide range of applications in computer vision and robotics. Recently, 2D vision-language models such a…
TrafficKAN-GCN: Graph Convolutional-based Kolmogorov-Arnold Network for Traffic Flow Optimization
Jiayi Zhang, Yiming Zhang, Yuan Zheng +5
Urban traffic optimization is critical for improving transportation efficiency and alleviating congestion, particularly in large-scale dynamic networks. Traditional methods, such a…
FACTS: A Factored State-Space Framework For World Modelling
Li Nanbo, Firas Laakom, Yucheng Xu +2
World modelling is essential for understanding and predicting the dynamics of complex systems by learning both spatial and temporal dependencies. However, current frameworks, such…
Learning Long-Horizon Robot Manipulation Skills via Privileged Action
Xiaofeng Mao, Yucheng Xu, Zhaole Sun +3
Long-horizon contact-rich tasks are challenging to learn with reinforcement learning, due to ineffective exploration of high-dimensional state spaces with sparse rewards. The learn…