Peiyuan Zhi

Yuhao Lu, Beixing Deng, Zhenyu Wang et al.

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 large-scale datasets, we discover that a single physical metric usually generates several discrete levels of grasp confidence scores, which cannot finely distinguish millions of grasp poses and leads to inaccurate prediction results. In this paper, we propose a hybrid physical metric to solve this evaluation insufficiency. First, we define a novel metric is based on the force-closure metric, supplemented by the measurement of the object flatness, gravity and collision. Second, we leverage this hybrid physical metric to generate elaborate confidence scores. Third, to learn the new confidence scores effectively, we design a multi-resolution network called Flatness Gravity Collision GraspNet (FGC-GraspNet). FGC-GraspNet proposes a multi-resolution features learning architecture for multiple tasks and introduces a new joint loss function that enhances the average precision of the grasp detection. The network evaluation and adequate real robot experiments demonstrate the effectiveness of our hybrid physical metric and FGC-GraspNet. Our method achieves 90.5\% success rate in real-world cluttered scenes. Our code is available at https://github.com/luyh20/FGC-GraspNet.

Yandan Yang, Baoxiong Jia, Peiyuan Zhi et al.

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 naturalness and realism of the generated scenes, the physical plausibility and interactivity of scenes have been largely left unexplored. To address this disparity, we introduce PhyScene, a novel method dedicated to generating interactive 3D scenes characterized by realistic layouts, articulated objects, and rich physical interactivity tailored for embodied agents. Based on a conditional diffusion model for capturing scene layouts, we devise novel physics- and interactivity-based guidance mechanisms that integrate constraints from object collision, room layout, and object reachability. Through extensive experiments, we demonstrate that PhyScene effectively leverages these guidance functions for physically interactable scene synthesis, outperforming existing state-of-the-art scene synthesis methods by a large margin. Our findings suggest that the scenes generated by PhyScene hold considerable potential for facilitating diverse skill acquisition among agents within interactive environments, thereby catalyzing further advancements in embodied AI research. Project website: http://physcene.github.io.

Peiyuan Zhi, Zhiyuan Zhang, Yu Zhao et al.

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 foundation model for open-ended reasoning and adaptive planning in real-world scenarios.COME-robot incorporates two key innovative modules: (i) a multi-level open-vocabulary perception and situated reasoning module that enables effective exploration of the 3D environment and target object identification using commonsense knowledge and situated information, and (ii) an iterative closed-loop feedback and restoration mechanism that verifies task feasibility, monitors execution success, and traces failure causes across different modules for robust failure recovery. Through comprehensive experiments involving 8 challenging real-world mobile and tabletop manipulation tasks, COME-robot demonstrates a significant improvement in task success rate (~35%) compared to state-of-the-art methods. We further conduct comprehensive analyses to elucidate how COME-robot's design facilitates failure recovery, free-form instruction following, and long-horizon task planning.

Kaiyue Zhou, Ming Dong, Peiyuan Zhi et al.

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 scanned with flaws or large gaps. In this paper, we propose an end-to-end architecture that compensates for and identifies partial point clouds on the fly. First, we propose a cascaded solution that integrates both the upstream masked autoencoder (MAE) and downstream understanding networks simultaneously, allowing the task-oriented downstream to identify the points generated by the completion-oriented upstream. These two streams complement each other, resulting in improved performance for both completion and downstream-dependent tasks. Second, to explicitly understand the predicted points' pattern, we introduce hierarchical self-distillation (HSD), which can be applied to any hierarchy-based point cloud methods. HSD ensures that the deepest classifier with a larger perceptual field of local kernels and longer code length provides additional regularization to intermediate ones rather than simply aggregating the multi-scale features, and therefore maximizing the mutual information (MI) between a teacher and students. The proposed HSD strategy is particularly well-suited for tasks involving scattered point clouds, wherein a singular prediction may yield imprecise outcomes due to the inherently irregular and sparse nature of the geometric shape being reconstructed. We show the advantage of the self-distillation process in the hyperspaces based on the information bottleneck principle. Our method achieves state-of-the-art on both classification and part segmentation tasks.