11 papers
STEREOFLOW: Progressive Stereo Matching with StereoDiT and Transition Flow Matching
Hao Wang, Haoran Geng, Xiaotong Yang +7
Stereo matching is a fundamental task in 3D reconstruction. Despite remarkable advances, the prevailing paradigms formulate stereo matching as a deterministic regression problem, c…
GAPartManip: A Large-scale Part-centric Dataset for Material-Agnostic Articulated Object Manipulation
Wenbo Cui, Chengyang Zhao, Songlin Wei +5
Effectively manipulating articulated objects in household scenarios is a crucial step toward achieving general embodied artificial intelligence. Mainstream research in 3D vision ha…
Rodrigues Network for Learning Robot Actions
Jialiang Zhang, Haoran Geng, Yang You +4
Understanding and predicting articulated actions is important in robot learning. However, common architectures such as MLPs and Transformers lack inductive biases that reflect the…
Policy: Mutable Material Manipulation Augmentation Policy through Photometric Re-rendering
Jiayi Li, Yuxuan Hu, Haoran Geng +4
Material generalization is essential for real-world robotic manipulation, where robots must interact with objects exhibiting diverse visual and physical properties. This challenge…
DexGarmentLab: Dexterous Garment Manipulation Environment with Generalizable Policy
Yuran Wang, Ruihai Wu, Yue Chen +7
Garment manipulation is a critical challenge due to the diversity in garment categories, geometries, and deformations. Despite this, humans can effortlessly handle garments, thanks…
FastTD3: Simple, Fast, and Capable Reinforcement Learning for Humanoid Control
Younggyo Seo, Carmelo Sferrazza, Haoran Geng +3
Reinforcement learning (RL) has driven significant progress in robotics, but its complexity and long training times remain major bottlenecks. In this report, we introduce FastTD3,…