Peiyuan Zhi
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View article: Learning a Unified Policy for Position and Force Control in Legged Loco-Manipulation
Learning a Unified Policy for Position and Force Control in Legged Loco-Manipulation Open
Robotic loco-manipulation tasks often involve contact-rich interactions with the environment, requiring the joint modeling of contact force and robot position. However, recent visuomotor policies often focus solely on learning position or …
View article: SYNERGAI: Perception Alignment for Human-Robot Collaboration
SYNERGAI: Perception Alignment for Human-Robot Collaboration Open
Recently, large language models (LLMs) have shown strong potential in facilitating human-robotic interaction and collaboration. However, existing LLM-based systems often overlook the misalignment between human and robot perceptions, which …
View article: Closed-Loop Open-Vocabulary Mobile Manipulation with GPT-4V
Closed-Loop Open-Vocabulary Mobile Manipulation with GPT-4V Open
Autonomous robot navigation and manipulation in open environments require reasoning and replanning with closed-loop feedback. In this work, we present COME-robot, the first closed-loop robotic system utilizing the GPT-4V vision-language fo…
View article: PhyScene: Physically Interactable 3D Scene Synthesis for Embodied AI
PhyScene: Physically Interactable 3D Scene Synthesis for Embodied AI Open
With recent developments in Embodied Artificial Intelligence (EAI) research, there has been a growing demand for high-quality, large-scale interactive scene generation. While prior methods in scene synthesis have prioritized the naturalnes…
View article: Joint Learning for Scattered Point Cloud Understanding with Hierarchical Self-Distillation
Joint Learning for Scattered Point Cloud Understanding with Hierarchical Self-Distillation Open
Numerous point-cloud understanding techniques focus on whole entities and have succeeded in obtaining satisfactory results and limited sparsity tolerance. However, these methods are generally sensitive to incomplete point clouds that are s…
View article: Performance of Ceftazidime-Avibactam 30/20-μg and 10/4-μg Disks for Susceptibility Testing of <i>Enterobacterales</i> and Pseudomonas aeruginosa
Performance of Ceftazidime-Avibactam 30/20-μg and 10/4-μg Disks for Susceptibility Testing of <i>Enterobacterales</i> and Pseudomonas aeruginosa Open
Multidrug-resistant Enterobacterales and P. aeruginosa strains have become a global public threat, with the emergence and prevalence of plasmid-mediated extended-spectrum β-lactamases (ESBLs), AmpC cephalosporinases, and carbapenemases dis…
View article: Hybrid Physical Metric For 6-DoF Grasp Pose Detection
Hybrid Physical Metric For 6-DoF Grasp Pose Detection Open
6-DoF grasp pose detection of multi-grasp and multi-object is a challenge task in the field of intelligent robot. To imitate human reasoning ability for grasping objects, data driven methods are widely studied. With the introduction of lar…
View article: In Vitro Activity of MRX-8 and Comparators Against Clinical Isolated Gram-Negative Bacilli in China
In Vitro Activity of MRX-8 and Comparators Against Clinical Isolated Gram-Negative Bacilli in China Open
To evaluate in vitro antibacterial activity of MRX-8 against gram-negative bacteria recently isolated from China, 765 clinical isolates were collected randomly from 2017 to 2020, including Enterobacterales and P. aeruginosa and A. baumanni…
View article: <i>In Vitro</i> Activity of KBP-7072 against 536 Acinetobacter baumannii Complex Isolates Collected in China
<i>In Vitro</i> Activity of KBP-7072 against 536 Acinetobacter baumannii Complex Isolates Collected in China Open
It is reported that A. baumannii has emerged as an intractable nosocomial pathogen in hospitals especially when it develops resistance to carbapenems and other antibiotics, which limits treatment options and leads to high mortality. In Feb…