8 papers
Translation as a Bridging Action: Transferring Manipulation Skills from Humans to Robots
Sijin Chen, Kaixuan Jiang, Haixin Shi +6
We study whether we can learn novel manipulation skills from human actions to a bi-manual robot with parallel grippers. Human action data is cheap, abundant, and diverse, making it…
Towards Generalizable Robotic Data Flywheel: High-Dimensional Factorization and Composition
Yuyang Xiao, Yifei Zhou, Haoran Wang +2
The lack of sufficiently diverse data, coupled with limited data efficiency, remains a major bottleneck for generalist robotic models, yet systematic strategies for collecting and…
From Spatial to Actions: Grounding Vision-Language-Action Model in Spatial Foundation Priors
Zhengshen Zhang, Hao Li, Yalun Dai +10
Existing vision-language-action (VLA) models act in 3D real-world but are typically built on 2D encoders, leaving a spatial reasoning gap that limits generalization and adaptabilit…
World Guidance: World Modeling in Condition Space for Action Generation
Yue Su, Sijin Chen, Haixin Shi +7
Leveraging future observation modeling to facilitate action generation presents a promising avenue for enhancing the capabilities of Vision-Language-Action (VLA) models. However, e…
GR-Dexter Technical Report
Ruoshi Wen, Guangzeng Chen, Zhongren Cui +23
Vision-language-action (VLA) models have enabled language-conditioned, long-horizon robot manipulation, but most existing systems are limited to grippers. Scaling VLA policies to b…
GR-RL: Going Dexterous and Precise for Long-Horizon Robotic Manipulation
Yunfei Li, Xiao Ma, Jiafeng Xu +18
We present GR-RL, a robotic learning framework that turns a generalist vision-language-action (VLA) policy into a highly capable specialist for long-horizon dexterous manipulation.…