7 papers
Hy-Embodied-VLM-1.0: Efficient Physical-World Agents
Ziyi Wang, Xumin Yu, Yongming Rao +19
Building capable embodied agents requires not only multimodal perception and understanding, but also agentic capabilities for reasoning about actions, adapting to evolving situatio…
Embodied-R1.5: Evolving Physical Intelligence via Embodied Foundation Models
Yifu Yuan, Yaoting Huang, Xianze Yao +20
We introduce Embodied-R1.5, a unified Embodied Foundation Model (EFM) that integrates comprehensive embodied reasoning capabilities, spanning embodied cognition, task planning, cor…
RoboPIN: Grounded Embodied Reasoning via Pinned Chain-of-Thought
Yaoting Huang, Yifu Yuan, Linqi Han +6
Embodied reasoning requires models to perceive task-relevant objects and spaces in physical environments and maintain consistent visual grounding throughout multi-step reasoning. H…
RIO: Flexible Real-Time Robot I/O for Cross-Embodiment Robot Learning
Pablo Ortega-Kral, Eliot Xing, Arthur Bucker +13
Despite recent efforts to collect multi-task, multi-embodiment datasets, to design recipes for training Vision-Language-Action models (VLAs), and to showcase these models on differ…
ForceFlow: Learning to Feel and Act via Contact-Driven Flow Matching
Shuoheng Zhang, Yifu Yuan, Hongyao Tang +7
Existing imitation learning methods enable robots to interact autonomously with the physical environment. However, contact-rich manipulation tasks remain a significant challenge du…
RPL: Learning Robust Humanoid Perceptive Locomotion on Challenging Terrains
Yuanhang Zhang, Younggyo Seo, Juyue Chen +7
Humanoid perceptive locomotion has made significant progress and shows great promise, yet achieving robust multi-directional locomotion on complex terrains remains underexplored. T…