Single-view 3D visuomotor policies based on point-cloud observations, such as 3D Diffusion Policy, often suffer from limited viewpoint generalization due to partial observability and occlusion. This is particularly challenging for articulated objects whose internal motion induces geometry changes. To address this probl...
Xin-Yu Liu, Yu-Zhi Zhang, Yu Zhang et al.· IEEE Robotics and Automation...· 0 citations
Task-oriented grasping (TOG) requires robots to grasp functional parts of objects (e.g., the handle of a mug for pouring), yet these affordance regions are frequently occluded in cluttered scenes. Active perception via next-best-view (NBV) planning can resolve such occlusions by moving the camera for more informative o...
Jing-Zhi Cui, Xuefeng Liu, Feng Han et al.· 0 citations
This is the first real-world humanoid racket-sport system to demonstrate multi-skill human--robot rallies including highly dynamic jump returns, and is the first real-world humanoid racket-sport system to demonstrate multi-skill human--robot rallies including highly dynamic jump returns.
Weave is presented, a unified framework for learning whole-body dexterous humanoid-object interaction from captured human demonstrations that converts captured human-object interactions into executable robot-object references through contact-aware retargeting and approach-motion completion.
Liu Cao, Xing-Ze Wu, Jing-Zhi Cui et al.· 2 citations
This work presents GigaBrain-0.7, an embodied foundation model with substantially improved generalization across diverse robot embodiments, and introduces one-stage alignment training that jointly optimizes vision-language understanding and multi-embodiment action generation.
GigaBrain Team, An-Gen Ye, Axiang Sun et al.· 7 citations· ⚡1
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