Ruihai Wu

Peking University

収録論文 47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

• FlatLab: 平板物体のロボット操作のための統一手法フレームワークとシミュレーションベースのベンチマーク
  マニピュレーション2026/8/14

  平板物体の操作を戦略生成と行動実行に分離する統一フレームワークを提案し、多様な物体に汎化する手法と、その評価のための高忠実シミュレーションベンチマークFlatLabを導入した。

• AdaDexGrasp: 3D視覚触覚表現融合による適応的器用把持
  マニピュレーション2026/8/6

  視覚と触覚を統合した表現を用いて、把持計画と接触後の適応的修正を行う器用なロボットハンドの把持フレームワークを提案し、シミュレーションと実環境で成功率と汎化性を向上させた。

• AdaDexGrasp: Adaptive Dexterous Grasping via 3D Visuo-Tactile Representation Fusion
  2026/8/1
• Sparse Meets Dense: Correspondence Guided Robotic Manipulation with Rigid-Deformable Interactions
  2026/8/1
• RoboDojo: A Unified Sim-and-Real Benchmark for Comprehensive Evaluation of Generalist Robot Manipulation Policies
  2026/7/1
• MagicSim: A Unified Infrastructure for Executable Embodied Interaction
  2026/6/1
• AffordanceVLA: A Vision-Language-Action Model Empowering Action Generation through Affordance-Aware Understanding
  2026/6/1
• HeteroGenManip: Generalizable Manipulation For Heterogeneous Object Interactions
  2026/5/1
• From Seeing to Simulating: Generative High-Fidelity Simulation with Digital Cousins for Generalizable Robot Learning and Evaluation
  2026/4/1
• RoboWM-Bench: A Benchmark for Evaluating World Models in Robotic Manipulation
  2026/4/1
• LeHome: A Simulation Environment for Deformable Object Manipulation in Household Scenarios
  2026/4/1
• HiPolicy: Hierarchical Multi-Frequency Action Chunking for Policy Learning
  2026/4/1
• RMBench: Memory-Dependent Robotic Manipulation Benchmark with Insights into Policy Design
  2026/3/1
• BiPreManip: Learning Affordance-Based Bimanual Preparatory Manipulation through Anticipatory Collaboration
  2026/3/1
• GraspALL: Adaptive Structural Compensation from Illumination Variation for Robotic Garment Grasping in Any Low-Light Conditions
  2026/3/1
• DexKnot: Generalizable Visuomotor Policy Learning for Dexterous Bag-Knotting Manipulation
  2026/3/1
• GarmentPile++: Affordance-Driven Cluttered Garments Retrieval with Vision-Language Reasoning
  2026/3/1
• Learning Part-Aware Dense 3D Feature Field for Generalizable Articulated Object Manipulation
  2026/2/1
• Bi-Adapt: Few-shot Bimanual Adaptation for Novel Categories of 3D Objects via Semantic Correspondence
  2026/2/1
• A3D: Adaptive Affordance Assembly with Dual-Arm Manipulation
  2026/1/1
• RealAppliance: Let High-fidelity Appliance Assets Controllable and Workable as Aligned Real Manuals
  2025/12/1
• AdaptPNP: Integrating Prehensile and Non-Prehensile Skills for Adaptive Robotic Manipulation
  2025/11/1
• Manual2Skill++: Connector-Aware General Robotic Assembly from Instruction Manuals via Vision-Language Models
  2025/10/1
• Adaptive Articulated Object Manipulation On The Fly with Foundation Model Reasoning and Part Grounding
  2025/7/1
• BiAssemble: Learning Collaborative Affordance for Bimanual Geometric Assembly
  2025/6/1
• DexGarmentLab: Dexterous Garment Manipulation Environment with Generalizable Policy
  2025/5/1
• RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning
  2025/4/1
• MetaFold: Language-Guided Multi-Category Garment Folding Framework via Trajectory Generation and Foundation Model
  2025/3/1
• GarmentPile: Point-Level Visual Affordance Guided Retrieval and Adaptation for Cluttered Garments Manipulation
  2025/3/1
• AdaManip: Adaptive Articulated Object Manipulation Environments and Policy Learning
  2025/2/1
• Manual2Skill: Learning to Read Manuals and Acquire Robotic Skills for Furniture Assembly Using Vision-Language Models
  2025/2/1
• ManipGPT: Is Affordance Segmentation by Large Vision Models Enough for Articulated Object Manipulation?
  2024/12/1
• GarmentLab: A Unified Simulation and Benchmark for Garment Manipulation
  2024/11/1
• ET-SEED: Efficient Trajectory-Level SE(3) Equivariant Diffusion Policy
  2024/11/1
• EqvAfford: SE(3) Equivariance for Point-Level Affordance Learning
  2024/8/1
• Broadcasting Support Relations Recursively from Local Dynamics for Object Retrieval in Clutters
  2024/6/1
• PreAfford: Universal Affordance-Based Pre-Grasping for Diverse Objects and Environments
  2024/4/1
• UniDoorManip: Learning Universal Door Manipulation Policy Over Large-scale and Diverse Door Manipulation Environments
  2024/3/1
• NaturalVLM: Leveraging Fine-grained Natural Language for Affordance-Guided Visual Manipulation
  2024/3/1
• RoboEXP: Action-Conditioned Scene Graph via Interactive Exploration for Robotic Manipulation
  2024/2/1
• Where2Explore: Few-shot Affordance Learning for Unseen Novel Categories of Articulated Objects
  2023/9/1
• Learning Environment-Aware Affordance for 3D Articulated Object Manipulation under Occlusions
  2023/9/1
• Learning Foresightful Dense Visual Affordance for Deformable Object Manipulation
  2023/3/1
• DualAfford: Learning Collaborative Visual Affordance for Dual-gripper Manipulation
  2022/7/1
• AdaAfford: Learning to Adapt Manipulation Affordance for 3D Articulated Objects via Few-shot Interactions
  2021/12/1
• VAT-Mart: Learning Visual Action Trajectory Proposals for Manipulating 3D ARTiculated Objects
  2021/6/1
• DMotion: Robotic Visuomotor Control with Unsupervised Forward Model Learned from Videos
  2021/3/1