Fuchun Sun

Tsinghua University

収録論文 53本 ・ フィジカルAI/ロボット学習

※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

• BICPO-VLA: 行動識別による継続選好最適化を用いた滑らかな非同期視覚言語行動制御
  VLA2026/8/14

  ロボットの動作生成中に生じる要求から引き継ぎまでのギャップを、行動意図の識別、Haar部分空間による動作チャンク分解、参照相対Flow-DPOによる適応の3段階で解消する手法を提案した。

• PBD-AG: 不確実性を考慮した検査を備えた持続的ベースライン-デルタ能動グラフによる長時間稼働サービスロボットのための世界モデル
  世界モデル/長期認識2026/8/11

  長時間稼働するサービスロボット向けに、安定した構造物と変化する物体イベントを分離した持続的な世界モデルを構築するフレームワークを提案。ロボットが自律的に環境を探索し、物体の状態を確率的に管理し、検査視点を選択することで、長期的な認識の信頼性を向上させる。

• PBD-AG: Persistent Baseline-Delta Active Graphs with Uncertainty-Aware Inspection for Long-Horizon Service Robots
  2026/8/1
• EAGG: Embodiment-Aligned Grasp Generation via Geometry-Aware Graph Conditioning
  2026/6/1
• Periodic Steady-State Control of a Handkerchief-Spinning Task Using a Parallel Anti-Parallelogram Tendon-driven Wrist
  2026/4/1
• Evolving the Complete Muscle: Efficient Morphology-Control Co-design for Musculoskeletal Locomotion
  2026/4/1
• Inference-stage Adaptation-projection Strategy Adapts Diffusion Policy to Cross-manipulators Scenarios
  2025/9/1
• Advancing Audio-Visual Navigation Through Multi-Agent Collaboration in 3D Environments
  2025/9/1
• Multi-segment Soft Robot Control via Deep Koopman-based Model Predictive Control
  2025/5/1
• Adversarial Locomotion and Motion Imitation for Humanoid Policy Learning
  2025/4/1
• Tacchi 2.0: A Low Computational Cost and Comprehensive Dynamic Contact Simulator for Vision-based Tactile Sensors
  2025/3/1
• Pick-and-place Manipulation Across Grippers Without Retraining: A Learning-optimization Diffusion Policy Approach
  2025/2/1
• Video2Reward: Generating Reward Function from Videos for Legged Robot Behavior Learning
  2024/12/1
• EHC-MM: Embodied Holistic Control for Mobile Manipulation
  2024/9/1
• Subequivariant Reinforcement Learning in 3D Multi-Entity Physical Environments
  2024/7/1
• When Vision Meets Touch: A Contemporary Review for Visuotactile Sensors from the Signal Processing Perspective
  2024/6/1
• RoboGolf: Mastering Real-World Minigolf with a Reflective Multi-Modality Vision-Language Model
  2024/6/1
• Soft Contact Simulation and Manipulation Learning of Deformable Objects with Vision-based Tactile Sensor
  2024/5/1
• Simulation of Optical Tactile Sensors Supporting Slip and Rotation using Path Tracing and IMPM
  2024/5/1
• What Foundation Models can Bring for Robot Learning in Manipulation : A Survey
  2024/4/1
• Smooth Computation without Input Delay: Robust Tube-Based Model Predictive Control for Robot Manipulator Planning
  2024/3/1
• Rethinking Mutual Information for Language Conditioned Skill Discovery on Imitation Learning
  2024/2/1
• RobotGPT: Robot Manipulation Learning from ChatGPT
  2023/12/1
• Subequivariant Graph Reinforcement Learning in 3D Environments
  2023/5/1
• Deep Reinforcement Learning for Robotic Pushing and Picking in Cluttered Environment
  2023/2/1
• Tacchi: A Pluggable and Low Computational Cost Elastomer Deformation Simulator for Optical Tactile Sensors
  2023/1/1
• Learning 6-DoF Task-oriented Grasp Detection via Implicit Estimation and Visual Affordance
  2022/10/1
• Scene Graph for Embodied Exploration in Cluttered Scenario
  2022/7/1
• Sound Adversarial Audio-Visual Navigation
  2022/2/1
• Hybrid Robotic Grasping with a Soft Multimodal Gripper and a Deep Multistage Learning Scheme
  2022/2/1
• Sim2Real Object-Centric Keypoint Detection and Description
  2022/2/1
• Self-supervised 3D Semantic Representation Learning for Vision-and-Language Navigation
  2022/1/1
• Audio-Visual Grounding Referring Expression for Robotic Manipulation
  2021/9/1
• Knowledge-based Embodied Question Answering
  2021/9/1
• Elastic Tactile Simulation Towards Tactile-Visual Perception
  2021/8/1
• TransSC: Transformer-based Shape Completion for Grasp Evaluation
  2021/7/1
• Adversarial Option-Aware Hierarchical Imitation Learning
  2021/6/1
• A Robust Tube-Based Smooth-MPC for Robot Manipulator Planning
  2021/3/1
• Fault-Aware Robust Control via Adversarial Reinforcement Learning
  2020/11/1
• Elastic Interaction of Particles for Robotic Tactile Simulation
  2020/11/1
• Adversarial Skill Learning for Robust Manipulation
  2020/11/1
• Towards Embodied Scene Description
  2020/4/1
• Fabric Defect Detection Using Vision-Based Tactile Sensor
  2020/3/1
• MQA: Answering the Question via Robotic Manipulation
  2020/3/1
• Robust Robotic Pouring using Audition and Haptics
  2020/3/1
• A Mobile Robot Hand-Arm Teleoperation System by Vision and IMU
  2020/3/1
• Reinforcement Learning from Imperfect Demonstrations under Soft Expert Guidance
  2019/11/1
• Imitation Learning from Observations by Minimizing Inverse Dynamics Disagreement
  2019/10/1
• Making Sense of Audio Vibration for Liquid Height Estimation in Robotic Pouring
  2019/3/1
• Vision-based Teleoperation of Shadow Dexterous Hand using End-to-End Deep Neural Network
  2018/9/1
• PointNetGPD: Detecting Grasp Configurations from Point Sets
  2018/9/1
• Learning and Inferring Movement with Deep Generative Model
  2018/5/1
• Task Transfer by Preference-Based Cost Learning
  2018/5/1