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[ICLR23] A Minimalist Dataset for Systematic Generalization of Perception, Syntax, and Semantics

Inspired by humans’ exceptional ability to master arithmetic and generalize to new problems, we present a new dataset, …

Qing Li, Siyuan Huang, Yining Hong, Yixin Zhu, Ying Nian Wu, Song-Chun Zhu

[ICLR23] A Minimalist Dataset for Systematic Generalization of Perception, Syntax, and Semantics

[ICRA23] GenDexGrasp: Generalizable Dexterous Grasping

Generating dexterous grasping has been a long-standing and challenging robotic task. Despite recent progress, existing methods …

Puhao Li, Tengyu Liu, Yuyang Li, Yiran Geng, Yixin Zhu, Yaodong Yang, Siyuan Huang

[ICRA23] Rearrange Indoor Scenes for Human-Robot Co-Activity

We present an optimization-based framework for rearranging indoor furniture to accommodate human-robot co-activities better. The …

Weiqi Wang, Zihang Zhao, Ziyuan Jiao, Yixin Zhu, Song-Chun Zhu, Hangxin Liu

[ICRA23] Rearrange Indoor Scenes for Human-Robot Co-Activity

[NeurIPS22] On the Learning Mechanisms in Physical Reasoning

Is dynamics prediction indispensable for physical reasoning? If so, what kind of roles do the dynamics prediction modules play during …

Shiqian Li, Kewen Wu, Chi Zhang, Yixin Zhu

[NeurIPS22] Emergent Graphical Conventions in a Visual Communication Game

Humans communicate with graphical sketches apart from symbolic languages (Fay et al., 2014). Primarily focusing on the latter, recent …

Shuwen Qiu, Sirui Xie, Lifeng Fan, Tao Gao, Jungseock Joo, Song-Chun Zhu, Yixin Zhu

[NeurIPS22] HUMANISE: Language-conditioned Human Motion Generation in 3D Scenes

Learning to generate diverse scene-aware and goal-oriented human motions in 3D scenes remains challenging due to the mediocre …

Zan Wang, Yixin Chen, Tengyu Liu, Yixin Zhu, Wei Liang, Siyuan Huang

[NeurIPS22] HUMANISE: Language-conditioned Human Motion Generation in 3D Scenes

[ECCV22] Learning Algebraic Representation for Systematic Generalization in Abstract Reasoning

Is intelligence realized by connectionist or classicist? While connectionist approaches have achieved superhuman performance, there has …

Chi Zhang, Sirui Xie, Baoxiong Jia, Ying Nian Wu, Song-Chun Zhu, Yixin Zhu

[ECCV22] Learning Algebraic Representation for Systematic Generalization in Abstract Reasoning

[IROS22] Sequential Manipulation Planning on Scene Graph

We devise a 3D scene graph representation, contact graph+ (cg+), for efficient sequential manipulation planning. Augmented with …

Ziyuan Jiao, Yida Niu, Zeyu Zhang, Song-Chun Zhu, Yixin Zhu, Hangxin Liu

[IROS22] Sequential Manipulation Planning on Scene Graph

[IROS22] Downwash-aware Control Allocation for Over-actuated UAV Platforms

Tracking position and orientation independently affords more agile maneuver for over-actuated multirotor Unmanned Aerial Vehicles …

Yao Su, Chi Chu, Meng Wang, Jiarui Li, Liu Yang, Yixin Zhu, Hangxin Liu

[IROS22] Downwash-aware Control Allocation for Over-actuated UAV Platforms

[ICML22] Latent Diffusion Energy-Based Model for Interpretable Text Modeling

Latent space Energy-Based Models (EBMs), also known as energy-based priors, have drawn growing interests in generative modeling. Fueled …

Peiyu Yu, Sirui Xie, Xiaojian Ma, Baoxiong Jia, Bo Pang, Ruiqi Gao, Yixin Zhu, Ying Nian Wu, Song-Chun Zhu

[ICML22] Latent Diffusion Energy-Based Model for Interpretable Text Modeling