From the 1 of 13 linked papers with an AI index.
13 papers
Action QFormer: Structured Representation Shaping under Action Supervision in Vision-Language-Action Models
Yufeng Ji, Wenhao Tang, Haoyi Niu +3
The paper introduces Action QFormer, a query-based interface that reorganizes multimodal information into action-focused representations to improve vision-language-action models, e…
RoboDojo: A Unified Sim-and-Real Benchmark for Comprehensive Evaluation of Generalist Robot Manipulation Policies
Tianxing Chen, Yue Chen, Zixuan Li +41
Generalist robot manipulation policies have advanced rapidly, yet existing benchmarks remain limited in systematically evaluating their capabilities. Many rely on simple, short-hor…
KEMO: Event-Driven Keyframe Memory for Long-Horizon Robot Manipulation with VLA Policies
Yihan Zeng, Minghao Ye, Yiyuan Chen +4
Long-horizon robot manipulation remains challenging because similar observations may occur at different execution stages, while the appropriate action depends on previously complet…
RoboNaldo: Accurate, Stable and Powerful Humanoid Soccer Shooting via Motion-Guided Curriculum Reinforcement Learning
Yichao Zhong, Yidan Lu, Yuhang Lu +9
Elite humanoid soccer shooting requires whole-body stability, high-impulse whole-body interactions, and accuracy to targets. Motion tracking-driven reinforcement learning (RL) prov…
VRA: Grounding Discrete-Time Joint Acceleration in Voltage-Constrained Actuation
Lingwei Zhang, Jiaming Wang, Tianlin Zhang +5
Discrete-time joint acceleration constraints are widely used to enforce position and velocity limits. However, under voltage-constrained electric actuators, kinematically admissibl…
Ego-Vision World Model for Humanoid Contact Planning
Hang Liu, Yuman Gao, Sangli Teng +5
Enabling humanoid robots to exploit physical contact, rather than simply avoid collisions, is crucial for autonomy in unstructured environments. Traditional optimization-based plan…