Yangtao Chen — accepted AI-conference papers

2026

DeCo: Task Decomposition and Skill Composition for Zero-Shot Generalization in Long-Horizon 3D Manipulation

Zixuan Chen, Junhui Yin, Yangtao Chen, Jing Huo, Pinzhuo Tian, Jieqi Shi +3

RA-L 2026

Generalizing language-conditioned multi-task imitation learning (IL) models to novel long-horizon 3D manipulation tasks is challenging. To address this, we propose <bold xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">DeCo</b> (<italic xmlns:mml="http://www.

Cited by 11 Source ↗code ↗Scholar ↗

2025

GravMAD: Grounded Spatial Value Maps Guided Action Diffusion for Generalized 3D Manipulation

Yangtao Chen, Zixuan Chen, Junhui Yin, Jing Huo, Pinzhuo Tian, Jieqi Shi +1

ICLR 2025poster

Robots' ability to follow language instructions and execute diverse 3D manipulation tasks is vital in robot learning. Traditional imitation learning-based methods perform well on seen tasks but struggle with novel, unseen ones due to variability. Recent approaches leverage large foundation models to…

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