5 papers · 1 filter
RynnValue: Scaling Robotic Value Foundation Models with Temporal Distance
Dongchi Huang, Hongyin Zhang, Bohan Hou +12
General-purpose reward models are increasingly the bottleneck for scaling robot learning, yet the recipe for learning value-related capabilities from large-scale heterogeneous corp…
RynnBrain 1.1: Towards More Capable and Generalizable Embodied Foundation Model
Kehan Li, Bohan Hou, Minghao Zhu +28
We present RynnBrain 1.1, a family of embodied foundation models spanning 2B, 9B, and 122B-A10B scales. Trained with a unified spatio-temporal and physically grounded framework, Ry…
ArtiSG: Functional 3D Scene Graph Construction via Human-demonstrated Articulated Objects Manipulation
Qiuyi Gu, Yuze Sheng, Jincheng Yu +7
3D scene graphs have empowered robots with semantic understanding for navigation and planning. However, current functional scene graphs primarily focus on static element detection,…
MR-COGraphs: Communication-efficient Multi-Robot Open-vocabulary Mapping System via 3D Scene Graphs
Qiuyi Gu, Zhaocheng Ye, Jincheng Yu +7
Collaborative perception in unknown environments is crucial for multi-robot systems. With the emergence of foundation models, robots can now not only perceive geometric information…
Explore-Bench: Data Sets, Metrics and Evaluations for Frontier-based and Deep-reinforcement-learning-based Autonomous Exploration
Yuanfan Xu, Jincheng Yu, Jiahao Tang +5
Autonomous exploration and mapping of unknown terrains employing single or multiple robots is an essential task in mobile robotics and has therefore been widely investigated. Never…