Fan Yang
収録論文 62本 ・ フィジカルAI/ロボット学習
VLA/ヒューマノイドsim2realVLA
※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
- EATR-Stereo: 身体性を考慮したステレオ証拠のルーティングによるヒューマノイド視覚言語行動制御VLA/ヒューマノイド2026/8/18
頭部搭載ステレオカメラを持つヒューマノイドのVLA制御において、主視点のトークンを保持しつつ補助視点の情報を身体状態に応じて選択的に統合するフレームワークを提案し、実機で高い成功率を達成した。
- 触覚シミュレーションを使わない触覚Sim2Real：ボトルネック潜在再構成による実現sim2real2026/8/16
触覚センサのシミュレーションを避け、シミュレータ内のオラクルセンサ（点群と指先力）で学習したポリシーを、実センサの潜在表現をオラクルに合わせることで実機に転移するフレームワークを提案。挿入や歯車噛み合わせで高成功率を達成。
- LiLa-WAM: ロボット操作のための軽量潜在推論ワールドアクションモデルVLA2026/8/4
将来の状態をコンパクトな潜在空間で推論する軽量なワールドアクションモデルを提案し、単一GPUで学習可能にした。
- LiLa-WAM: Lightweight Latent Reasoning World-Action Model for Robotic Manipulation2026/8/1
- DexPIE: Stable Dexterous Policy Improvement from Real-World Experience2026/6/1
- DigiForest: Digital Analytics and Robotics for Sustainable Forestry2026/4/1
- BLaDA: Bridging Language to Functional Dexterous Actions within 3DGS Fields2026/4/1
- IndoorR2X: Indoor Robot-to-Everything Coordination with LLM-Driven Planning2026/3/1
- When Should a Robot Think? Resource-Aware Reasoning via Reinforcement Learning for Embodied Robotic Decision-Making2026/3/1
- Path-conditioned Reinforcement Learning-based Local Planning for Long-Range Navigation2026/3/1
- ABPolicy: Asynchronous B-Spline Flow Policy for Real-Time and Smooth Robotic Manipulation2026/2/1
- AME-2: Agile and Generalized Legged Locomotion via Attention-Based Neural Map Encoding2026/1/1
- TRACER: Texture-Robust Affordance Chain-of-Thought for Deformable-Object Refinement2026/1/1
- DeFM: Learning Foundation Representations from Depth for Robotics2026/1/1
- SAHA: Supervised Autonomous HArvester for selective forest thinning2026/1/1
- Whether We Care, How We Reason: The Dual Role of Anthropomorphism and Moral Foundations in Robot Abuse2026/1/1
- Learning Fine-Grained Correspondence with Cross-Perspective Perception for Open-Vocabulary 6D Object Pose Estimation2026/1/1
- AVO: Amortized Value Optimization for Contact Mode Switching in Multi-Finger Manipulation2025/10/1
- CADRE: Dynamic Catching via Implicit Contact Descriptors and Task-Appropriate Recovery Affordances2025/10/1
- What Matters in RL-Based Methods for Object-Goal Navigation? An Empirical Study and A Unified Framework2025/10/1
- Diffusing Trajectory Optimization Problems for Recovery During Multi-Finger Manipulation2025/10/1
- Beyond the Uncanny Valley: A Mixed-Method Investigation of Anthropomorphism in Protective Responses to Robot Abuse2025/10/1
- I don't Want You to Die: A Shared Responsibility Framework for Safeguarding Child-Robot Companionship2025/10/1
- AnoF-Diff: One-Step Diffusion-Based Anomaly Detection for Forceful Tool Use2025/9/1
- UniFucGrasp: Human-Hand-Inspired Unified Functional Grasp Annotation Strategy and Dataset for Diverse Dexterous Hands2025/8/1
- Spatially-Enhanced Recurrent Memory for Long-Range Mapless Navigation via End-to-End Reinforcement Learning2025/6/1
- TartanGround: A Large-Scale Dataset for Ground Robot Perception and Navigation2025/5/1
- Integrating Learning-Based Manipulation and Physics-Based Locomotion for Whole-Body Badminton Robot Control2025/4/1
- One-Shot Affordance Grounding of Deformable Objects in Egocentric Organizing Scenes2025/3/1
- Resource-Efficient Affordance Grounding with Complementary Depth and Semantic Prompts2025/3/1
- Multi-Keypoint Affordance Representation for Functional Dexterous Grasping2025/2/1
- RoadGen: Generating Road Scenarios for Autonomous Vehicle Testing2024/11/1
- Diffusion-Informed Probabilistic Contact Search for Multi-Finger Manipulation2024/10/1
- Steering Prediction via a Multi-Sensor System for Autonomous Racing2024/9/1
- Multi-finger Manipulation via Trajectory Optimization with Differentiable Rolling and Geometric Constraints2024/8/1
- IN-Sight: Interactive Navigation through Sight2024/8/1
- Learning Granularity-Aware Affordances from Human-Object Interaction for Tool-Based Functional Dexterous Grasping2024/7/1
- Imperative Learning: A Self-supervised Neuro-Symbolic Learning Framework for Robot Autonomy2024/6/1
- Accelerating the Evolution of Personalized Automated Lane Change through Lesson Learning2024/5/1
- Motion Primitives Planning For Center-Articulated Vehicles2024/5/1
- iA*: Imperative Learning-based A* Search for Path Planning2024/3/1
- Subgoal Diffuser: Coarse-to-fine Subgoal Generation to Guide Model Predictive Control for Robot Manipulation2024/3/1
- A Safer Vision-based Autonomous Planning System for Quadrotor UAVs with Dynamic Obstacle Trajectory Prediction and Its Application with LLMs2023/11/1
- ViPlanner: Visual Semantic Imperative Learning for Local Navigation2023/10/1
- Reinforcement Learning in a Safety-Embedded MDP with Trajectory Optimization2023/10/1
- PyPose v0.6: The Imperative Programming Interface for Robotics2023/9/1
- SSD-MonoDETR: Supervised Scale-aware Deformable Transformer for Monocular 3D Object Detection2023/5/1
- Event-Free Moving Object Segmentation from Moving Ego Vehicle2023/5/1
- HACMan: Learning Hybrid Actor-Critic Maps for 6D Non-Prehensile Manipulation2023/5/1
- Ring-Rotor: A Novel Retractable Ring-shaped Quadrotor with Aerial Grasping and Transportation Capability2023/4/1
- iPlanner: Imperative Path Planning2023/2/1
- Graph Reinforcement Learning Application to Co-operative Decision-Making in Mixed Autonomy Traffic: Framework, Survey, and Challenges2022/11/1
- RGB-Event Fusion for Moving Object Detection in Autonomous Driving2022/9/1
- PyPose: A Library for Robot Learning with Physics-based Optimization2022/9/1
- Real-Time Ground-Plane Refined LiDAR SLAM2021/10/1
- FAR Planner: Fast, Attemptable Route Planner using Dynamic Visibility Update2021/10/1
- Autonomous Exploration Development Environment and the Planning Algorithms2021/10/1
- RAIN: Reinforced Hybrid Attention Inference Network for Motion Forecasting2021/8/1
- Numerical Energy Analysis of In-wheel Motor Driven Autonomous Electric Vehicles2021/4/1
- Graph-Based Topological Exploration Planning in Large-Scale 3D Environments2021/3/1
- Fault-Aware Robust Control via Adversarial Reinforcement Learning2020/11/1
- EvolveGraph: Multi-Agent Trajectory Prediction with Dynamic Relational Reasoning2020/3/1