6 papers
SimFoundry: Modular and Automated Scene Generation for Policy Learning and Evaluation
Nadun Ranawaka, Josiah Wong, Wei-Lin Pai +15
Training and evaluating robot policies in the real world is costly and difficult to scale. We introduce SimFoundry, a modular and automated system for zero-shot real-to-sim scene c…
ESI-Bench: Towards Embodied Spatial Intelligence that Closes the Perception-Action Loop
Yining Hong, Jiageng Liu, Han Yin +5
Spatial intelligence unfolds through a perception-action loop: agents act to acquire observations, and reason about how observations vary as a function of action. Rather than passi…
AwareVLN: Reasoning with Self-awareness for Vision-Language Navigation
Wenxuan Guo, Xiuwei Xu, Yichen Liu +7
Vision-and-Language Navigation (VLN) requires an agent to ground language instructions to its own movement within a visual environment. While state-of-the-art methods leverage the…
MoMaGen: Generating Demonstrations under Soft and Hard Constraints for Multi-Step Bimanual Mobile Manipulation
Chengshu Li, Mengdi Xu, Arpit Bahety +11
Imitation learning from large-scale, diverse human demonstrations has been shown to be effective for training robots, but collecting such data is costly and time-consuming. This ch…
ENACT: Evaluating Embodied Cognition with World Modeling of Egocentric Interaction
Qineng Wang, Wenlong Huang, Yu Zhou +8
Embodied cognition argues that intelligence arises from sensorimotor interaction rather than passive observation. It raises an intriguing question: do modern vision-language models…
BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities
Yunfan Jiang, Ruohan Zhang, Josiah Wong +7
Real-world household tasks present significant challenges for mobile manipulation robots. An analysis of existing robotics benchmarks reveals that successful task performance hinge…