Differences in hand geometry, joint parameterization, and kinematic topology pose challenges for cross-embodiment dexterous grasp generation. However, spatial relations among links alone are insufficient to fully capture the hand's kinematic topology. We propose DexGraspFlow, a conditional link-level $\mathrm{SE}(3)$ f...
Bin-Jia Zhou, Bo-Yu Ma, Xin-Yu Zhou et al.· 0 citations
Vision-and-Language Navigation (VLN) requires embodied agents to ground language in visual observations and make long-horizon decisions. Existing methods often address these demands through task-specific architectures. As multimodal large language models (MLLMs) become increasingly capable, an important question remain...
Ling-Yi Hong, Wei-Ren Cai, Jia-Yu Chen et al.· 0 citations
Hierarchical vision-language-action (VLA) systems consist of a high-level vision-language planner and a low-level action expert that generates continuous actions. This hierarchical design has practical value only if the planner can generate plans fast enough to meet real-time control requirements, and the resulting pla...
Chuan-Liang Xie, Bo-Yu Ma, Gen Li et al.· 0 citations
This work proposes UCA-Flow, a unified condition-action modeling framework for accurate one-step action generation that unifies observation conditions, timestep conditions, interval conditions, and action tokens into a single sequence, and processes them with a Unified Condition-Action Transformer for joint condition-a...
Xin-Yu Zhou, Zikun Cai, Kuangji Zuo et al.· 0 citations
We use cookies to run the site and, with your consent, for analytics and to show ads.
See our Cookie Policy.
