15 papers
FutureRTC: Real-Time Robot Execution with Anticipatory-Conditioned Action Chunking
Hai Jiang, Yixian Zou, Binbin Liang +3
Real-time deployment of Vision-Language-Action (VLA) policies necessitates asynchronous execution, wherein subsequent action chunks are computed concurrently with the execution of…
From Open Loop to Closed Loop: A Test-Time Iterative Optimization Framework for Reference-Consistent Image Generation
Baixuan Zhao, Xinyu Zhang, Huayu Zheng +4
While controllable image generation has made significant strides by incorporating visual reference conditions, existing methods predominantly operate as open-loop systems. They inj…
SeedPolicy: Horizon Scaling via Self-Evolving Diffusion Policy for Robot Manipulation
Youqiang Gui, Yuxuan Zhou, Shen Cheng +4
Imitation Learning (IL) enables robots to acquire manipulation skills from expert demonstrations. Diffusion Policy (DP) models multi-modal expert behaviors but degrades when naivel…
Efficient Hybrid SE(3)-Equivariant Visuomotor Flow Policy via Spherical Harmonics for Robot Manipulation
Qinglun Zhang, Shen Cheng, Tian Dan +3
While existing equivariant methods enhance data efficiency, they suffer from high computational intensity, reliance on single-modality inputs, and instability when combined with fa…
PiCo: Active Manifold Canonicalization for Robust Robotic Visual Anomaly Detection
Teng Yan, Binkai Liu, Shuai Liu +2
Industrial deployment of robotic visual anomaly detection (VAD) is fundamentally constrained by passive perception under diverse 6-DoF pose configurations and unstable operating co…
LaS-Comp: Zero-shot 3D Completion with Latent-Spatial Consistency
Weilong Yan, Haipeng Li, Hao Xu +4
This paper introduces LaS-Comp, a zero-shot and category-agnostic approach that leverages the rich geometric priors of 3D foundation models to enable 3D shape completion across div…