23 papers
MIND-V: Hierarchical World Model for Long-Horizon Robotic Manipulation with RL-based Physical Alignment
Ruicheng Zhang, Mingyang Zhang, Jun Zhou +6
Scalable embodied intelligence is constrained by the scarcity of diverse, long-horizon robotic manipulation data. Existing video world models in this domain are limited to synthesi…
ManipArena: Comprehensive Real-world Evaluation of Reasoning-Oriented Generalist Robot Manipulation
Yu Sun, Meng Cao, Yang Ping +24
Vision-Language-Action (VLA) models and world-action models have emerged as central paradigms for general-purpose robotic intelligence, yet their empirical progress remains constra…
Learning Visual Spatial Planning from Symbolic State via Modality-Gap-Aware Self-Distillation
Haocheng Luo, Jiahui Liu, Ruicheng Zhang +8
While Vision-Language Models excel at general multimodal understanding, they still struggle with visual spatial planning. We attribute this limitation to a perception--reasoning mo…
KVPO: ODE-Native GRPO for Autoregressive Video Alignment via KV Semantic Exploration
Ruicheng Zhang, Kaixi Cong, Jun Zhou +5
Aligning streaming autoregressive (AR) video generators with human preferences is challenging. Existing reinforcement learning methods predominantly rely on noise-based exploration…
RoboStereo: Dual-Tower 4D Embodied World Models for Unified Policy Optimization
Ruicheng Zhang, Guangyu Chen, Zunnan Xu +5
Scalable Embodied AI faces fundamental constraints due to prohibitive costs and safety risks of real-world interaction. While Embodied World Models (EWMs) offer promise through ima…
Identity-Consistent Video Generation under Large Facial-Angle Variations
Bin Hu, Zipeng Qi, Guoxi Huang +6
Single-view reference-to-video methods often struggle to preserve identity consistency under large facial-angle variations. This limitation naturally motivates the incorporation of…