Cewu Lu
Shanghai Jiao Tong University
収録論文 118本 ・ フィジカルAI/ロボット学習
VLA
※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。
論文
- Track4Action: 世界中心の3Dトラッカーを視覚言語行動ポリシーに蒸留するVLA2026/8/4
デモ動画のフレーム遷移から得られる3Dトラッカー特徴を教師信号としてVLAポリシーに蒸留し、推論時はトラッカー不要で高い成功率を達成するフレームワークを提案。
- Track4Action: Distilling World-Centric 3D Tracker into Vision-Language-Action Policies2026/8/1
- Tired Actor: Fatigue-Informed Character Control2026/8/1
- Never Too Late for Force: Accelerating VLA Post-Training with Reactive Force Injection2026/7/15
- Asynchronous Multimodal Diffusion Policy Composition via Latency-Aware Guidance Fusion2026/7/1
- FA-RDP: A Frequency-Adaptive Reactive Diffusion Policy for Contact-Rich Manipulation2026/7/1
- Explicit Kinematic Guidance from Analytic Concepts for Vision-Language-Action Models2026/7/1
- AnyDexRT: Calibration-Free Dexterous Hand Retargeting with Few-Shot Human Guidance2026/7/1
- Never Too Late for Force: Accelerating VLA Post-Training with Reactive Force Injection2026/7/1
- OpenEAI-Platform: An Open-source Embodied Artificial Intelligence Hardware-Software Unified Platform2026/6/1
- ChronoFlow-Policy: Unifying Past-Current-Future Interaction Flow in Visuomotor Policy Learning2026/6/1
- GeoAlign: Beyond Semantics with State-Guided Spatial Alignment in VLA Models2026/6/1
- FTP-1: A Generalist Foundation Tactile Policy Across Tactile Sensors for Contact-Rich Manipulation2026/6/1
- PO-PDDL: Learning Symbolic POMDPs from Visual Demonstrations for Robot Planning Under Uncertainty2026/6/1
- Revisiting Articulated Parts Perception in Robot Manipulation2026/6/1
- Analytic Concept-Centric Memory for Agentic Embodied Manipulation2026/6/1
- X-Imitator: Spatial-Aware Imitation Learning via Bidirectional Action-Pose Interaction2026/5/1
- ActiveGlasses: Learning Manipulation with Active Vision from Ego-centric Human Demonstration2026/4/1
- LIDEA: Human-to-Robot Imitation Learning via Implicit Feature Distillation and Explicit Geometry Alignment2026/4/1
- RoboPocket: Improve Robot Policies Instantly with Your Phone2026/3/1
- LaMP: Learning Vision-Language-Action Policy with 3D Scene Flow as Latent Motion Prior2026/3/1
- VTAM: Video-Tactile-Action Models for Complex Physical Interaction Beyond VLAs2026/3/1
- ForceVLA2: Unleashing Hybrid Force-Position Control with Force Awareness for Contact-Rich Manipulation2026/3/1
- Towards Human-Like Manipulation through RL-Augmented Teleoperation and Mixture-of-Dexterous-Experts VLA2026/3/1
- I-Perceive: A Foundation Model for Active Perception with Language Instructions2026/3/1
- Rethinking Camera Choice: An Empirical Study on Fisheye Camera Properties in Robotic Manipulation2026/3/1
- UniPlan: Vision-Language Task Planning for Mobile Manipulation with Unified PDDL Formulation2026/2/1
- Mimic Intent, Not Just Trajectories2026/2/1
- HiWET: Hierarchical World-Frame End-Effector Tracking for Long-Horizon Humanoid Loco-Manipulation2026/2/1
- Force Policy: Learning Hybrid Force-Position Control Policy under Interaction Frame for Contact-Rich Manipulation2026/2/1
- Any House Any Task: Scalable Long-Horizon Planning for Abstract Human Tasks2026/2/1
- ImplicitRDP: An End-to-End Visual-Force Diffusion Policy with Structural Slow-Fast Learning2025/12/1
- L1 Sample Flow for Efficient Visuomotor Learning2025/11/1
- RealD$^2$iff: Bridging Real-World Gap in Robot Manipulation via Depth Diffusion2025/11/1
- Executable Analytic Concepts as the Missing Link Between VLM Insight and Precise Manipulation2025/10/1
- ARMADA: Autonomous Online Failure Detection and Human Shared Control Empower Scalable Real-world Deployment and Adaptation2025/10/1
- SOE: Sample-Efficient Robot Policy Self-Improvement via On-Manifold Exploration2025/9/1
- Learning Dexterous Manipulation with Quantized Hand State2025/9/1
- History-Aware Visuomotor Policy Learning via Point Tracking2025/9/1
- Right-Side-Out: Learning Zero-Shot Sim-to-Real Garment Reversal2025/9/1
- FSGlove: An Inertial-Based Hand Tracking System with Shape-Aware Calibration2025/9/1
- TrajBooster: Boosting Humanoid Whole-Body Manipulation via Trajectory-Centric Learning2025/9/1
- FBI: Learning Dexterous In-hand Manipulation with Dynamic Visuotactile Shortcut Policy2025/8/1
- AgentWorld: An Interactive Simulation Platform for Scene Construction and Mobile Robotic Manipulation2025/8/1
- UniDomain: Pretraining a Unified PDDL Domain from Real-World Demonstrations for Generalizable Robot Task Planning2025/7/1
- ArtGS:3D Gaussian Splatting for Interactive Visual-Physical Modeling and Manipulation of Articulated Objects2025/7/1
- Knowledge-Driven Imitation Learning: Enabling Generalization Across Diverse Conditions2025/6/1
- Tru-POMDP: Task Planning Under Uncertainty via Tree of Hypotheses and Open-Ended POMDPs2025/6/1
- ForceVLA: Enhancing VLA Models with a Force-aware MoE for Contact-rich Manipulation2025/5/1
- SIME: Enhancing Policy Self-Improvement with Modal-level Exploration2025/5/1
- DexTOG: Learning Task-Oriented Dexterous Grasp with Language2025/4/1
- Novel Demonstration Generation with Gaussian Splatting Enables Robust One-Shot Manipulation2025/4/1
- Digital Gene: Learning about the Physical World through Analytic Concepts2025/4/1
- Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulation2025/3/1
- Dense Policy: Bidirectional Autoregressive Learning of Actions2025/3/1
- AirExo-2: Scaling up Generalizable Robotic Imitation Learning with Low-Cost Exoskeletons2025/3/1
- Physically Ground Commonsense Knowledge for Articulated Object Manipulation with Analytic Concepts2025/3/1
- AnyDexGrasp: General Dexterous Grasping for Different Hands with Human-level Learning Efficiency2025/2/1
- Arti-PG: A Toolbox for Procedurally Synthesizing Large-Scale and Diverse Articulated Objects with Rich Annotations2024/12/1
- Dexterous Manipulation Based on Prior Dexterous Grasp Pose Knowledge2024/12/1
- ConceptFactory: Facilitate 3D Object Knowledge Annotation with Object Conceptualization2024/11/1
- FoAR: Force-Aware Reactive Policy for Contact-Rich Robotic Manipulation2024/11/1
- Motion Before Action: Diffusing Object Motion as Manipulation Condition2024/11/1
- CAGE: Causal Attention Enables Data-Efficient Generalizable Robotic Manipulation2024/10/1
- DeformPAM: Data-Efficient Learning for Long-horizon Deformable Object Manipulation via Preference-based Action Alignment2024/10/1
- ForceMimic: Force-Centric Imitation Learning with Force-Motion Capture System for Contact-Rich Manipulation2024/10/1
- ImDy: Human Inverse Dynamics from Imitated Observations2024/10/1
- UniAff: A Unified Representation of Affordances for Tool Usage and Articulation with Vision-Language Models2024/9/1
- Articulated Object Manipulation using Online Axis Estimation with SAM2-Based Tracking2024/9/1
- Towards Effective Utilization of Mixed-Quality Demonstrations in Robotic Manipulation via Segment-Level Selection and Optimization2024/9/1
- SKT: Integrating State-Aware Keypoint Trajectories with Vision-Language Models for Robotic Garment Manipulation2024/9/1
- Discovering Conceptual Knowledge with Analytic Ontology Templates for Articulated Objects2024/9/1
- A Surprisingly Efficient Representation for Multi-Finger Grasping2024/8/1
- Kalib: Easy Hand-Eye Calibration with Reference Point Tracking2024/8/1
- DiPGrasp: Parallel Local Searching for Efficient Differentiable Grasp Planning2024/8/1
- Human-Agent Joint Learning for Efficient Robot Manipulation Skill Acquisition2024/7/1
- TieBot: Learning to Knot a Tie from Visual Demonstration through a Real-to-Sim-to-Real Approach2024/7/1
- HumanVLA: Towards Vision-Language Directed Object Rearrangement by Physical Humanoid2024/6/1
- Graspness Discovery in Clutters for Fast and Accurate Grasp Detection2024/6/1
- DiffGen: Robot Demonstration Generation via Differentiable Physics Simulation, Differentiable Rendering, and Vision-Language Model2024/5/1
- RISE: 3D Perception Makes Real-World Robot Imitation Simple and Effective2024/4/1
- MS-MANO: Enabling Hand Pose Tracking with Biomechanical Constraints2024/4/1
- RPMArt: Towards Robust Perception and Manipulation for Articulated Objects2024/3/1
- RH20T-P: A Primitive-Level Robotic Dataset Towards Composable Generalization Agents2024/3/1
- ManiPose: A Comprehensive Benchmark for Pose-aware Object Manipulation in Robotics2024/3/1
- Foundation Models in Robotics: Applications, Challenges, and the Future2023/12/1
- EmbodiedScan: A Holistic Multi-Modal 3D Perception Suite Towards Embodied AI2023/12/1
- RFTrans: Leveraging Refractive Flow of Transparent Objects for Surface Normal Estimation and Manipulation2023/11/1
- Differentiable Cloth Parameter Identification and State Estimation in Manipulation2023/11/1
- UniFolding: Towards Sample-efficient, Scalable, and Generalizable Robotic Garment Folding2023/11/1
- Precise Robotic Needle-Threading with Tactile Perception and Reinforcement Learning2023/11/1
- TacIPC: Intersection- and Inversion-free FEM-based Elastomer Simulation For Optical Tactile Sensors2023/11/1
- Intersection-free Robot Manipulation with Soft-Rigid Coupled Incremental Potential Contact2023/11/1
- Differentiable Fluid Physics Parameter Identification Via Stirring2023/11/1
- Open X-Embodiment: Robotic Learning Datasets and RT-X Models2023/10/1
- AirExo: Low-Cost Exoskeletons for Learning Whole-Arm Manipulation in the Wild2023/9/1
- GAMMA: Generalizable Articulation Modeling and Manipulation for Articulated Objects2023/9/1
- Flexible Handover with Real-Time Robust Dynamic Grasp Trajectory Generation2023/8/1
- ClothesNet: An Information-Rich 3D Garment Model Repository with Simulated Clothes Environment2023/8/1
- RH20T: A Comprehensive Robotic Dataset for Learning Diverse Skills in One-Shot2023/7/1
- GarmentTracking: Category-Level Garment Pose Tracking2023/3/1
- AnyGrasp: Robust and Efficient Grasp Perception in Spatial and Temporal Domains2022/12/1
- RCareWorld: A Human-centric Simulation World for Caregiving Robots2022/10/1
- SAM-RL: Sensing-Aware Model-Based Reinforcement Learning via Differentiable Physics-Based Simulation and Rendering2022/10/1
- Unseen Object 6D Pose Estimation: A Benchmark and Baselines2022/6/1
- CPPF: Towards Robust Category-Level 9D Pose Estimation in the Wild2022/3/1
- TransCG: A Large-Scale Real-World Dataset for Transparent Object Depth Completion and a Grasping Baseline2022/2/1
- RFUniverse: A Multiphysics Simulation Platform for Embodied AI2022/2/1
- SAGCI-System: Towards Sample-Efficient, Generalizable, Compositional, and Incremental Robot Learning2021/11/1
- Towards Real-World Category-level Articulation Pose Estimation2021/5/1
- H2O: A Benchmark for Visual Human-human Object Handover Analysis2021/4/1
- RGB Matters: Learning 7-DoF Grasp Poses on Monocular RGBD Images2021/3/1
- SuctionNet-1Billion: A Large-Scale Benchmark for Suction Grasping2021/3/1
- Transferable Active Grasping and Real Embodied Dataset2020/4/1
- GraspNet: A Large-Scale Clustered and Densely Annotated Dataset for Object Grasping2019/12/1
- Transferable Force-Torque Dynamics Model for Peg-in-hole Task2019/12/1
- 6-PACK: Category-level 6D Pose Tracker with Anchor-Based Keypoints2019/10/1
- DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusion2019/1/1