5 papers
PhysCoRe: Physics-Corrected Residual World Models for Material-Aware Deformable Dynamics
Haocheng Yin, Shuohan Tao, Yongsheng Chen +1
Predicting how deformable objects evolve under robotic manipulation is a longstanding challenge. Existing approaches typically rely on per-object optimization to fit material param…
TOBench: A Task-Oriented Omni-Modal Benchmark for Real-World Tool-Using Agents
Zhiqiang Liu, Wenhui Dong, Yilang Tan +3
Tool-using agents are increasingly expected to operate across realistic professional workflows, where they must interpret multimodal inputs, coordinate external tools, inspect inte…
SensingAgents: A Multi-Agent Collaborative Framework for Robust IMU Activity Recognition
Naiyu Zheng, Tianlong Yu, Haochen Yin +3
Human Activity Recognition (HAR) using Inertial Measurement Unit (IMU) sensors is a cornerstone of mobile health, smart environments, and human-computer interaction. However, curre…
Inference-Time Enhancement of Generative Robot Policies via Predictive World Modeling
Han Qi, Haocheng Yin, Aris Zhu +2
We present Generative Predictive Control (GPC), an inference-time method for improving pretrained behavior-cloning policies without retraining. GPC augments a frozen diffusion poli…
Control-oriented Clustering of Visual Latent Representation
Han Qi, Haocheng Yin, Heng Yang
We initiate a study of the geometry of the visual representation space -- the information channel from the vision encoder to the action decoder -- in an image-based control pipelin…