4 papers
X-DiffVLA: X-Embodied Diffusion Action Heads for Vision-Language-Action Models
Boyu Li, Chaoyi Xu, Haoqi Yuan +5
Learning universal policies from cross-embodied data remains a fundamental challenge in robotics. Although Vision-Language-Action (VLA) models are pre-trained on large and diverse…
RoboGPT-R1: Enhancing Robot Task Planning with Reinforcement Learning
Jinrui Liu, Bingyan Nie, Boyu Li +4
Improving the reasoning capabilities of embodied agents is crucial for robots to complete complex human instructions in long-view manipulation tasks successfully. Despite the succe…
Towards Proprioception-Aware Embodied Planning for Dual-Arm Humanoid Robots
Boyu Li, Siyuan He, Hang Xu +10
In recent years, Multimodal Large Language Models (MLLMs) have demonstrated the ability to serve as high-level planners, enabling robots to follow complex human instructions. Howev…
DualTHOR: A Dual-Arm Humanoid Simulation Platform for Contingency-Aware Planning
Boyu Li, Siyuan He, Hang Xu +9
Developing embodied agents capable of performing complex interactive tasks in real-world scenarios remains a fundamental challenge in embodied AI. Although recent advances in simul…