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cs.RO2025
Path and Motion Optimization for Efficient Multi-Location Inspection with Humanoid Robots
Jiayang Wu, Jiongye Li, Shibowen Zhang +8
This paper proposes a novel framework for humanoid robots to execute inspection tasks with high efficiency and millimeter-level precision. The approach combines hierarchical planni…
cs.RO2025
M3Bench: Benchmarking Whole-body Motion Generation for Mobile Manipulation in 3D Scenes
Zeyu Zhang, Sixu Yan, Muzhi Han +4
We propose M3Bench, a new benchmark for whole-body motion generation in mobile manipulation tasks. Given a 3D scene context, M3Bench requires an embodied agent to reason about its…
cs.RO2024
M2Diffuser: Diffusion-based Trajectory Optimization for Mobile Manipulation in 3D Scenes
Sixu Yan, Zeyu Zhang, Muzhi Han +7
Recent advances in diffusion models have opened new avenues for research into embodied AI agents and robotics. Despite significant achievements in complex robotic locomotion and sk…