He Wang

Peking University

収録論文 86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

• HumanTracker: 人間の知覚に合致した包括的なモーション追跡ベンチマーク
  評価指標/ベンチマーク2026/8/13

  ヒューマノイドのモーション追跡評価を人間の知覚に合わせてスケーラブルにするため、約153時間の光学モーションデータからなるベンチマークと、選好に基づく評価指標HumanScoreを提案した。

• PACE: 時間効率的な具現化計画のための適応予算配分
  計画/具現化AI2026/8/4

  推論と実行を交互に行うアーキテクチャと、実行時間に応じて推論トークン予算を動的に調整する機構を導入し、具現化計画の推論遅延を大幅に削減しつつ成功率も向上させた。

• PACE: Adaptive Budget Allocation for Time-Efficient Embodied Planning
  2026/8/1
• HumanTracker: Towards Comprehensive and Human-Aligned Motion Tracking Benchmark
  2026/8/1
• Scaling Behavior Foundation Model for Humanoid Robots
  2026/7/1
• WAM-TTT: Steering World-Action Models by Watching Human Play at Test Time
  2026/7/1
• AllDayNav: Lifelong Navigation via Real-World Reinforcement Learning
  2026/6/1
• Humanoid-GPT: Scaling Data and Structure for Zero-Shot Motion Tracking
  2026/6/1
• LIMMT: Less is More for Motion Tracking
  2026/6/1
• KPGrasp: Scalable Keypoint Flow Matching for Dexterous Grasp Generation
  2026/6/1
• DexJoCo: A Benchmark and Toolkit for Task-Oriented Dexterous Manipulation on MuJoCo
  2026/5/1
• Adaptive Q-Chunking for Offline-to-Online Reinforcement Learning
  2026/5/1
• HDFlow: Hierarchical Diffusion-Flow Planning for Long-horizon Tasks
  2026/5/1
• BiDexGrasp: Coordinated Bimanual Dexterous Grasps across Object Geometries and Sizes
  2026/4/1
• TacDexGrasp: Compliant and Robust Dexterous Grasping with Tactile Feedback
  2026/3/1
• Emerging Extrinsic Dexterity in Cluttered Scenes via Dynamics-aware Policy Learning
  2026/3/1
• GraspADMM: Improving Dexterous Grasp Synthesis via ADMM Optimization
  2026/3/1
• NavGSim: High-Fidelity Gaussian Splatting Simulator for Large-Scale Navigation
  2026/3/1
• Learning Athletic Humanoid Tennis Skills from Imperfect Human Motion Data
  2026/3/1
• SPAN-Nav: Generalized Spatial Awareness for Versatile Vision-Language Navigation
  2026/3/1
• Seed2Scale: A Self-Evolving Data Engine for Embodied AI via Small to Large Model Synergy and Multimodal Evaluation
  2026/3/1
• Any3D-VLA: Enhancing VLA Robustness via Diverse Point Clouds
  2026/2/1
• LDA-1B: Scaling Latent Dynamics Action Model via Universal Embodied Data Ingestion
  2026/2/1
• StereoVLA: Enhancing Vision-Language-Action Models with Stereo Vision
  2025/12/1
• Robust Differentiable Collision Detection for General Objects
  2025/11/1
• RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation
  2025/11/1
• DexNDM: Closing the Reality Gap for Dexterous In-Hand Rotation via Joint-Wise Neural Dynamics Model
  2025/10/1
• UrbanVLA: A Vision-Language-Action Model for Urban Micromobility
  2025/10/1
• MM-Nav: Multi-View VLA Model for Robust Visual Navigation via Multi-Expert Learning
  2025/10/1
• TrackVLA++: Unleashing Reasoning and Memory Capabilities in VLA Models for Embodied Visual Tracking
  2025/10/1
• Embodied Arena: A Comprehensive, Unified, and Evolving Evaluation Platform for Embodied AI
  2025/9/1
• Embodied Navigation Foundation Model
  2025/9/1
• Track Any Motions under Any Disturbances
  2025/9/1
• RealMirror: A Comprehensive, Open-Source Vision-Language-Action Platform for Embodied AI
  2025/9/1
• CLAR: Learning 3D Representations for Robotic Manipulation by Fusing Masked Reconstruction with Multi-Level Contrastive Alignment
  2025/7/1
• DreamVLA: A Vision-Language-Action Model Dreamed with Comprehensive World Knowledge
  2025/7/1
• Pedestrian Intention Prediction via Vision-Language Foundation Models
  2025/7/1
• DexVLG: Dexterous Vision-Language-Grasp Model at Scale
  2025/7/1
• OctoNav: Towards Generalist Embodied Navigation
  2025/6/1
• Unleashing Humanoid Reaching Potential via Real-world-Ready Skill Space
  2025/5/1
• TrackVLA: Embodied Visual Tracking in the Wild
  2025/5/1
• GraspVLA: a Grasping Foundation Model Pre-trained on Billion-scale Synthetic Action Data
  2025/5/1
• FoldNet: Learning Generalizable Closed-Loop Policy for Garment Folding via Keypoint-Driven Asset and Demonstration Synthesis
  2025/5/1
• Dexonomy: Synthesizing All Dexterous Grasp Types in a Grasp Taxonomy
  2025/4/1
• DyWA: Dynamics-adaptive World Action Model for Generalizable Non-prehensile Manipulation
  2025/3/1
• SoFar: Language-Grounded Orientation Bridges Spatial Reasoning and Object Manipulation
  2025/2/1
• FetchBot: Learning Generalizable Object Fetching in Cluttered Scenes via Zero-Shot Sim2Real
  2025/2/1
• Watch Less, Feel More: Sim-to-Real RL for Generalizable Articulated Object Manipulation via Motion Adaptation and Impedance Control
  2025/2/1
• MobileH2R: Learning Generalizable Human to Mobile Robot Handover Exclusively from Scalable and Diverse Synthetic Data
  2025/1/1
• BODex: Scalable and Efficient Robotic Dexterous Grasp Synthesis Using Bilevel Optimization
  2024/12/1
• Code-as-Monitor: Constraint-aware Visual Programming for Reactive and Proactive Robotic Failure Detection
  2024/12/1
• RoboHanger: Learning Generalizable Robotic Hanger Insertion for Diverse Garments
  2024/12/1
• Mimicking-Bench: A Benchmark for Generalizable Humanoid-Scene Interaction Learning via Human Mimicking
  2024/12/1
• Uni-NaVid: A Video-based Vision-Language-Action Model for Unifying Embodied Navigation Tasks
  2024/12/1
• GAPartManip: A Large-scale Part-centric Dataset for Material-Agnostic Articulated Object Manipulation
  2024/11/1
• QuadWBG: Generalizable Quadrupedal Whole-Body Grasping
  2024/11/1
• DexGraspNet 2.0: Learning Generative Dexterous Grasping in Large-scale Synthetic Cluttered Scenes
  2024/10/1
• Feature Importance in Pedestrian Intention Prediction: A Context-Aware Review
  2024/9/1
• ScissorBot: Learning Generalizable Scissor Skill for Paper Cutting via Simulation, Imitation, and Sim2Real
  2024/9/1
• D3RoMa: Disparity Diffusion-based Depth Sensing for Material-Agnostic Robotic Manipulation
  2024/9/1
• RAM: Retrieval-Based Affordance Transfer for Generalizable Zero-Shot Robotic Manipulation
  2024/7/1
• On Flange-based 3D Hand-Eye Calibration for Soft Robotic Tactile Welding
  2024/7/1
• ASGrasp: Generalizable Transparent Object Reconstruction and 6-DoF Grasp Detection from RGB-D Active Stereo Camera
  2024/5/1
• NaVid: Video-based VLM Plans the Next Step for Vision-and-Language Navigation
  2024/2/1
• SAGE: Bridging Semantic and Actionable Parts for GEneralizable Manipulation of Articulated Objects
  2023/12/1
• RoboGPT: an intelligent agent of making embodied long-term decisions for daily instruction tasks
  2023/11/1
• Make a Donut: Hierarchical EMD-Space Planning for Zero-Shot Deformable Manipulation with Tools
  2023/11/1
• STOPNet: Multiview-based 6-DoF Suction Detection for Transparent Objects on Production Lines
  2023/10/1
• Task-Oriented Dexterous Hand Pose Synthesis Using Differentiable Grasp Wrench Boundary Estimator
  2023/9/1
• GAMMA: Graspability-Aware Mobile MAnipulation Policy Learning based on Online Grasping Pose Fusion
  2023/9/1
• UniDexGrasp++: Improving Dexterous Grasping Policy Learning via Geometry-aware Curriculum and Iterative Generalist-Specialist Learning
  2023/4/1
• UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policy
  2023/3/1
• PartManip: Learning Cross-Category Generalizable Part Manipulation Policy from Point Cloud Observations
  2023/3/1
• 3D-Aware Object Goal Navigation via Simultaneous Exploration and Identification
  2022/12/1
• DexGraspNet: A Large-Scale Robotic Dexterous Grasp Dataset for General Objects Based on Simulation
  2022/10/1
• Enhancing Generalizable 6D Pose Tracking of an In-Hand Object with Tactile Sensing
  2022/10/1
• GraspNeRF: Multiview-based 6-DoF Grasp Detection for Transparent and Specular Objects Using Generalizable NeRF
  2022/10/1
• Spatio-temporal Keyframe Control of Traffic Simulation using Coarse-to-Fine Optimization
  2022/9/1
• Learning Category-Level Generalizable Object Manipulation Policy via Generative Adversarial Self-Imitation Learning from Demonstrations
  2022/3/1
• Multi-Robot Active Mapping via Neural Bipartite Graph Matching
  2022/3/1
• Maneuver-based Anchor Trajectory Hypotheses at Roundabouts
  2021/4/1
• Maneuver-Aware Pooling for Vehicle Trajectory Prediction
  2021/4/1
• Formation Control for UAVs Using a Flux Guided Approach
  2021/3/1
• SAPIEN: A SimulAted Part-based Interactive ENvironment
  2020/3/1
• Human-like Planning for Reaching in Cluttered Environments
  2020/2/1
• Category-Level Articulated Object Pose Estimation
  2019/12/1