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One-Shot Real-World Demonstration Synthesis for Scalable Bimanual Manipulation
Huayi Zhou, Kui Jia
Learning dexterous bimanual manipulation policies critically depends on large-scale, high-quality demonstrations, yet current paradigms face inherent trade-offs: teleoperation prov…
Toward Humanoid Brain-Body Co-design: Joint Optimization of Control and Morphology for Fall Recovery
Bo Yue, Sheng Xu, Kui Jia +1
Humanoid robots represent a central frontier in embodied intelligence, as their anthropomorphic form enables natural deployment in humans' workspace. Brain-body co-design for human…
Embracing Evolution: A Call for Body-Control Co-Design in Embodied Humanoid Robot
Guiliang Liu, Bo Yue, Yi Jin Kim +1
Humanoid robots, as general-purpose physical agents, must integrate both intelligent control and adaptive morphology to operate effectively in diverse real-world environments. Whil…
ImaginationPolicy: Towards Generalizable, Precise and Reliable End-to-End Policy for Robotic Manipulation
Dekun Lu, Wei Gao, Kui Jia
End-to-end robot manipulation policies offer significant potential for enabling embodied agents to understand and interact with the world. Unlike traditional modular pipelines, end…
ARMesh: Autoregressive Mesh Generation via Next-Level-of-Detail Prediction
Jiabao Lei, Kewei Shi, Zhihao Liang +1
Directly generating 3D meshes, the default representation for 3D shapes in the graphics industry, using auto-regressive (AR) models has become popular these days, thanks to their s…
VLBiMan: Vision-Language Anchored One-Shot Demonstration Enables Generalizable Bimanual Robotic Manipulation
Huayi Zhou, Kui Jia
Achieving generalizable bimanual manipulation requires systems that can learn efficiently from minimal human input while adapting to real-world uncertainties and diverse embodiment…