Zhiyuan Xu
Beijing Innovation Center of Humanoid Robotics
収録論文 32本 ・ フィジカルAI/ロボット学習
ヒューマノイド/VLA/強化学習
※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
- HAF: 階層的アクションフローとスペクトル潜在RLによる汎用VLAのヒューマノイド全身移動操作への適応ヒューマノイド/VLA/強化学習2026/8/17
汎用VLA基盤モデルをヒューマノイドの全身移動操作に適応させるための2部構成フレームワークHAFを提案。階層的なアクション生成とオンラインRLによるポリシー改善を実現する。
- HEX: Humanoid-Aligned Experts for Cross-Embodiment Whole-Body Manipulation2026/4/1
- RobotPan: A 360$^\circ$ Surround-View Robotic Vision System for Embodied Perception2026/4/1
- Heracles: Bridging Precise Tracking and Generative Synthesis for General Humanoid Control2026/3/1
- Load-Aware Locomotion Control for Humanoid Robots in Industrial Transportation Tasks2026/3/1
- RoboGene: Boosting VLA Pre-training via Diversity-Driven Agentic Framework for Real-World Task Generation2026/2/1
- CRAFT: Adapting VLA Models to Contact-rich Manipulation via Force-aware Curriculum Fine-tuning2026/2/1
- RoboAug: One Annotation to Hundreds of Scenes via Region-Contrastive Data Augmentation for Robotic Manipulation2026/2/1
- Real-world Reinforcement Learning from Suboptimal Interventions2025/12/1
- RoboMIND 2.0: A Multimodal, Bimanual Mobile Manipulation Dataset for Generalizable Embodied Intelligence2025/12/1
- XR-1: Towards Versatile Vision-Language-Action Models via Learning Unified Vision-Motion Representations2025/11/1
- Training-free Generation of Temporally Consistent Rewards from VLMs2025/7/1
- SwitchVLA: Execution-Aware Task Switching for Vision-Language-Action Models2025/6/1
- FreqPolicy: Efficient Flow-based Visuomotor Policy via Frequency Consistency2025/6/1
- HACTS: a Human-As-Copilot Teleoperation System for Robot Learning2025/3/1
- ChatVLA: Unified Multimodal Understanding and Robot Control with Vision-Language-Action Model2025/2/20
- ChatVLA: Unified Multimodal Understanding and Robot Control with Vision-Language-Action Model2025/2/1
- RoboMIND: Benchmark on Multi-embodiment Intelligence Normative Data for Robot Manipulation2024/12/1
- ACL-QL: Adaptive Conservative Level in Q-Learning for Offline Reinforcement Learning2024/12/1
- Mamba Policy: Towards Efficient 3D Diffusion Policy with Hybrid Selective State Models2024/9/1
- TinyVLA: Towards Fast, Data-Efficient Vision-Language-Action Models for Robotic Manipulation2024/9/1
- Discrete Policy: Learning Disentangled Action Space for Multi-Task Robotic Manipulation2024/9/1
- Scaling Diffusion Policy in Transformer to 1 Billion Parameters for Robotic Manipulation2024/9/1
- MMRo: Are Multimodal LLMs Eligible as the Brain for In-Home Robotics?2024/6/1
- A Survey on Robotics with Foundation Models: toward Embodied AI2024/2/1
- Language-Conditioned Robotic Manipulation with Fast and Slow Thinking2024/1/1
- Visual Robotic Manipulation with Depth-Aware Pretraining2024/1/1
- Efficient Training of Generalizable Visuomotor Policies via Control-Aware Augmentation2024/1/1
- Object-Centric Instruction Augmentation for Robotic Manipulation2024/1/1
- Learning from Imperfect Demonstrations with Self-Supervision for Robotic Manipulation2024/1/1
- DTF-Net: Category-Level Pose Estimation and Shape Reconstruction via Deformable Template Field2023/8/1
- CMG-Net: An End-to-End Contact-Based Multi-Finger Dexterous Grasping Network2023/3/1