3 papers
cs.RO2025
Inference-stage Adaptation-projection Strategy Adapts Diffusion Policy to Cross-manipulators Scenarios
Xiangtong Yao, Yirui Zhou, Yuan Meng +7
Diffusion policies are powerful visuomotor models for robotic manipulation, yet they often fail to generalize to manipulators or end-effectors unseen during training and struggle t…
cs.RO2025
Embodied Long Horizon Manipulation with Closed-loop Code Generation and Incremental Few-shot Adaptation
Yuan Meng, Xiangtong Yao, Haihui Ye +6
Embodied long-horizon manipulation requires robotic systems to process multimodal inputs-such as vision and natural language-and translate them into executable actions. However, ex…
cs.RO2025
Pick-and-place Manipulation Across Grippers Without Retraining: A Learning-optimization Diffusion Policy Approach
Xiangtong Yao, Yirui Zhou, Yuan Meng +7
Current robotic pick-and-place policies typically require consistent gripper configurations across training and inference. This constraint imposes high retraining or fine-tuning co…