Generalization

OmniClone: Engineering a Robust, All-Rounder Whole-Body Humanoid Teleoperation System

Whole-body humanoid teleoperation enables humans to remotely control humanoid robots, serving as both a real-time operational tool and …

Yixuan Li, Le Ma, Yutang Lin, Yushi Du, Mengya Liu, Kaizhe Hu, Jieming Cui, Yixin Zhu, Baoxiong Jia, Wei Liang, Siyuan Huang

OmniClone: Engineering a Robust, All-Rounder Whole-Body Humanoid Teleoperation System

LessMimic: Long-Horizon Humanoid Interaction with Unified Distance Field Representations

Humanoid robots that autonomously interact with physical environments over extended horizons represent a central goal of embodied …

Yutang Lin, Jieming Cui, Yixuan Li, Baoxiong Jia, Yixin Zhu, Siyuan Huang

LessMimic: Long-Horizon Humanoid Interaction with Unified Distance Field Representations

[IROS25] Ag2x2: Robust Agent-Agnostic Visual Representations for Zero-Shot Bimanual Manipulation

Bimanual manipulation, fundamental to human daily activities, remains a challenging task due to its inherent complexity of coordinated …

Ziyin Xiong, Yinghan Chen, Puhao Li, Yixin Zhu, Tengyu Liu, Siyuan Huang

[T-RO25] Tac-Man: Tactile-Informed Prior-Free Manipulation of Articulated Objects

Integrating robotics into human-centric environments such as homes, necessitates advanced manipulation skills as robotic devices will …

Zihang Zhao, Yuyang Li, Wanlin Li, Zhenghao Qi, Lecheng Ruan, Yixin Zhu, Kaspar Althoefer

[IROS24] Ag2Manip: Learning Novel Manipulation Skills with Agent-Agnostic Visual and Action Representations

Autonomous robotic systems capable of learning novel manipulation tasks are poised to transform industries from manufacturing to …

Puhao Li, Tengyu Liu, Yuyang Li, Muzhi Han, Haoran Geng, Shu Wang, Yixin Zhu, Song-Chun Zhu, Siyuan Huang

[ECCV24] Zero-Shot Image Feature Consensus with Deep Functional Maps

Correspondences emerge from large-scale vision models trained for generative and discriminative tasks. This has been revealed and …

Xinle Cheng, Congyue Deng, Adam Harley, Yixin Zhu, Leonidas Guibas

Dexterous Functional Pre-Grasp Manipulation with Diffusion Policy

In real-world scenarios, objects often require repositioning and reorientation before they can be grasped, a process known as pre-grasp …

Tianhao Wu, Yunchong Gan, Mingdong Wu, Jingbo Cheng, Yaodong Yang, Yixin Zhu, Hao Dong

[RA-L24] Grasp Multiple Objects with One Hand

The intricate kinematics of the human hand enable simultaneous grasping and manipulation of multiple objects, essential for tasks such …

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

[ICLR24] I-PHYRE: Interactive Physical Reasoning

Current evaluation protocols predominantly assess physical reasoning in stationary scenes, creating a gap in evaluating agents’ …

Shiqian Li, Kewen Wu, Chi Zhang, Yixin Zhu

[ICLR24] SparseDFF: Sparse-View Feature Distillation for One-Shot Dexterous Manipulation

Humans demonstrate remarkable skill in transferring manipulation abilities across objects of varying shapes, poses, and appearances, a …

Qianxu Wang, Haotong Zhang, Congyue Deng, Yang You, Hao Dong, Yixin Zhu, Leonidas Guibas