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cs.AI2025
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…
cs.RO2025
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…
cs.RO2025
Learning Compositional Behaviors from Demonstration and Language
Weiyu Liu, Neil Nie, Ruohan Zhang +2
We introduce Behavior from Language and Demonstration (BLADE), a framework for long-horizon robotic manipulation by integrating imitation learning and model-based planning. BLADE l…