5 papers
DexVerse: A Modular Benchmark for Multi-Task, Multi-Embodiment Dexterous Manipulation
Yunchao Yao, Zhuxiu Xu, Tianqi Zhang +12
Building general-purpose dexterous manipulation policies requires benchmarks that go beyond isolated tasks to systematically evaluate policies across diverse interaction modes, sen…
DexHoldem: Playing Texas Hold'em with Dexterous Embodied System
Feng Chen, Tianzhe Chu, Li Sun +6
Evaluating embodied systems on real dexterous hardware requires more than isolated primitive skills: an agent must perceive a changing tabletop scene, choose a context-appropriate…
WorldArena 2.0: Extending Embodied World Model Benchmarking on Modality, Functionality and Platform
Yu Shang, Yinzhou Tang, Yiding Ma +22
World models have emerged as a central paradigm for embodied intelligence, enabling agents to predict action-conditioned future and reason about environmental dynamics. However, ex…
SFT Memorizes, RL Generalizes: A Comparative Study of Foundation Model Post-training
Tianzhe Chu, Yuexiang Zhai, Jihan Yang +6
Supervised fine-tuning (SFT) and reinforcement learning (RL) are widely used post-training techniques for foundation models. However, their roles in enhancing model generalization…
Seeing from Another Perspective: Evaluating Multi-View Understanding in MLLMs
Chun-Hsiao Yeh, Chenyu Wang, Shengbang Tong +7
Multi-view understanding, the ability to reconcile visual information across diverse viewpoints for effective navigation, manipulation, and 3D scene comprehension, is a fundamental…