7 accepted papers
Diffusion-based policies have achieved remarkable results in robotic manipulation but often struggle to adapt rapidly in dynamic scenarios, leading to delayed responses or task failures. We present DCDP, a Dynamic Closed-Loop Diffusion Policy framework that integrates chunk-based action generation w…
Vision-and-Language Navigation (VLN) requires the agent to navigate based on natural instructions. This task is challenging due to partial observability, which makes it difficult to align perception with language. Recent methods mitigate this by imagining future scenes, yet they rely on vision-based
Articulated objects are prevalent in daily life and robotic manipulation tasks. However, compared to rigid objects, pose tracking for articulated objects remains an underexplored problem due to their inherent kinematic constraints. To address these challenges, this work proposes a novel point-pair-b
Real-world manipulation datasets for robotic arms remain scarce due to the high costs, rigid hardware dependencies, and complex setup procedures associated with existing data collection methods. We introduce, a redesigned Universal Manipulation Interface (UMI) that addresses these challenges, enabli…
3D Object Affordance Grounding aims to predict the functional regions on a 3D object and has laid the foundation for a wide range of applications in robotics. Recent advances tackle this problem via learning a mapping between 3D regions and a single human-object interaction image. However, the geome…
In mobile manipulation, navigation and manipulation are often treated as separate problems, resulting in a significant gap between merely approaching an object and engaging with it effectively. Many navigation approaches primarily define success by proximity to the target, often overlooking the nece…
This paper scales object-level reconstruction to complex scenes, advancing interactive scene reconstruction. We introduce two datasets, OmniSim and InterReal, featuring 28 scenes with multiple interactive objects. To tackle the challenge of inaccurate interactive motion recovery in complex scenes, w…