23 papers
HOST:Robots Acquire Manipulation Skills in Seconds from a Single Human Video
Guangyan Chen, Meiling Wang, Te Cui +9
The ability to acquire skills rapidly and effortlessly while retaining those already mastered is essential for robots. However, current methods still rely on a cumbersome training-…
NeSy-CSA: A Neuro-Symbolic Framework for Open-Ended Critical Scenario Attribution
Qitong Chu, Xunjie He, Chen Deng +2
Understanding why discovered scenarios become critical in scenario-based testing is essential for effectively leveraging them in decision-making systems. Reasoning about such criti…
PDS Joint: A Parametric Double-Spiral Joint Tailored for Dexterous Hands
Haoyang Li, Yibo Wen, Yixiang Fan +2
Compliant joints can embed safety and adaptability into dexterous hands, but achieving large-stroke anthropomorphic motion while maintaining joint-specific, directiondependent stif…
PaMoSplat: Part-Aware Motion-Guided Gaussian Splatting for Dynamic Scene Reconstruction
Yinan Deng, Jianyu Dou, Jiahui Wang +3
Dynamic scene reconstruction represents a fundamental yet demanding challenge in computer vision and robotics. While recent progress in 3DGS-based methods has advanced dynamic scen…
FilterGS: Traversal-Free Parallel Filtering and Adaptive Shrinking for Large-Scale LoD 3D Gaussian Splatting
Yixian Wang, Haolin Yu, Jiadong Tang +4
3D Gaussian Splatting has revolutionized neural rendering with real-time performance. However, scaling this approach to large scenes using Level-of-Detail methods faces critical ch…
See Once, Then Act: Vision-Language-Action Model with Task Learning from One-Shot Video Demonstrations
Guangyan Chen, Meiling Wang, Qi Shao +10
Developing robust and general-purpose manipulation policies represents a fundamental objective in robotics research. While Vision-Language-Action (VLA) models have demonstrated pro…