1 citations · 3 across the 40 of their papers we have counts for
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LTM: Latent Transition Based In-Context Memory for Vision-Language-Action Models
Qixin Sun, WenLong Gao, Xiansheng Chen +3
Robotic manipulation often requires remembering interactions that are no longer visible. We introduce Latent Transition Memory (LTM), which stores history as compact latent transit…
HACo: Learning Haptic Active Compliance for Force-Aware Dexterous Manipulation
Naisheng Ye, Yinzhe Zhou, Junkai Zhao +5
Contact-rich dexterous manipulation requires policies that translate physical feedback into motion commands while regulating interaction loads across evolving multi-contact interac…
DeCAL: Towards Physically-Grounded Dexterous Vision-Language-Action Models via Contact-Aware Latent Co-Imagination
Yankai Fu, Ning Chen, Junkai Zhao +5
Dexterous manipulation involves contact-rich and fine-grained interactions with the physical world, posing significant challenges for existing vision-language-action (VLA) models d…
PRM-as-a-Judge 1.5: A Toolkit for Robot Process Assessment
Yuyang Liu, Yanqing Shen, Ruike Chen +22
Fine-grained robotic evaluation matters for understanding embodied models, going beyond binary success rates and rule-based process scores. We present PRM-as-a-Judge 1.5, a toolkit…
SLIM-0.5B: Learning Action-Grounded Predictive Latents for Robot Manipulation
Jingkai Wang, Zihan Tang, Gu Zhang +7
Vision-language-action policies rely on large multimodal backbones to jointly perform perception, language conditioning, and action generation at every control step. Much of this c…
FORCE: Efficient VLA Reinforcement Fine-Tuning via Value-Calibrated Warm-up and Self-Distillation
Shuyi Zhang, Yunfan Lou, Hongyang Cheng +8
Vision-Language-Action (VLA) models are often constrained by the imitation ceiling imposed by sub-optimal data. While Reinforcement Learning (RL) fine-tuning can surpass this limit…
Dexora: Open-source VLA for High-DoF Bimanual Dexterity
Zongzheng Zhang, Jingrui Pang, Zhuo Yang +22
Vision-Language-Action (VLA) models have recently become a central direction in embodied AI, but current systems are restricted to either dual-gripper control or single-arm dextero…
Mask World Model: Predicting What Matters for Robust Robot Policy Learning
Yunfan Lou, Xiaowei Chi, Xiaojie Zhang +9
World models derived from large-scale video generative pre-training have emerged as a promising paradigm for generalist robot policy learning. However, standard approaches often fo…
PRM-as-a-Judge: A Dense Evaluation Paradigm for Fine-Grained Robotic Auditing
Yuheng Ji, Yuyang Liu, Huajie Tan +15
Current robotic evaluation is still largely dominated by binary success rates, which collapse rich execution processes into a single outcome and obscure critical qualities such as…
SaPaVe: Towards Active Perception and Manipulation in Vision-Language-Action Models for Robotics
Mengzhen Liu, Enshen Zhou, Cheng Chi +6
Active perception and manipulation are crucial for robots to interact with complex scenes. Existing methods struggle to unify semantic-driven active perception with robust, viewpoi…
AnyTouch 2: General Optical Tactile Representation Learning For Dynamic Tactile Perception
Ruoxuan Feng, Yuxuan Zhou, Siyu Mei +6
Real-world contact-rich manipulation demands robots to perceive temporal tactile feedback, capture subtle surface deformations, and reason about object properties as well as force…
Reshaping Action Error Distributions for Reliable Vision-Language-Action Models
Shuanghao Bai, Dakai Wang, Cheng Chi +8
In robotic manipulation, vision-language-action (VLA) models have emerged as a promising paradigm for learning generalizable and scalable robot policies. Most existing VLA framewor…
Latent Reasoning VLA: Latent Thinking and Prediction for Vision-Language-Action Models
Shuanghao Bai, Jing Lyu, Wanqi Zhou +9
Vision-Language-Action (VLA) models benefit from chain-of-thought (CoT) reasoning, but existing approaches incur high inference overhead and rely on discrete reasoning representati…
RoboBrain 2.5: Depth in Sight, Time in Mind
Huajie Tan, Enshen Zhou, Zhiyu Li +32
We introduce RoboBrain 2.5, a next-generation embodied AI foundation model that advances general perception, spatial reasoning, and temporal modeling through extensive training on…
Action-Sketcher: From Reasoning to Action via Visual Sketches for Long-Horizon Robotic Manipulation
Huajie Tan, Peterson Co, Yijie Xu +9
Long-horizon robotic manipulation is increasingly important for real-world deployment, requiring spatial disambiguation in complex layouts and temporal resilience under dynamic int…
Do You Have Freestyle? Expressive Humanoid Locomotion via Audio Control
Zhe Li, Cheng Chi, Yangyang Wei +9
Humans intuitively move to sound, but current humanoid robots lack expressive improvisational capabilities, confined to predefined motions or sparse commands. Generating motion fro…
Robo-Dopamine: General Process Reward Modeling for High-Precision Robotic Manipulation
Huajie Tan, Sixiang Chen, Yijie Xu +12
The primary obstacle for applying reinforcement learning (RL) to real-world robotics is the design of effective reward functions. While recently learning-based Process Reward Model…
RoboMirror: Understand Before You Imitate for Video to Humanoid Locomotion
Zhe Li, Boan Zhu, Yangyang Wei +11
Humans learn locomotion through visual observation, interpreting visual content first before imitating actions. However, state-of-the-art humanoid locomotion systems rely on either…
Towards Spatial Trace with Reasoning in Vision-Language Models for Robotics
Enshen Zhou, Yibo Li, Jingkun An +12
Spatial tracing, as a fundamental embodied interaction ability for robots, is inherently challenging as it requires multi-step metric-grounded reasoning compounded with complex spa…
METIS: Multi-Source Egocentric Training for Integrated Dexterous Vision-Language-Action Model
Yankai Fu, Ning Chen, Junkai Zhao +5
Building a generalist robot that can perceive, reason, and act across diverse tasks remains an open challenge, especially for dexterous manipulation. A major bottleneck lies in the…
RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation
Shihan Wu, Xuecheng Liu, Shaoxuan Xie +81
Despite the critical role of bimanual manipulation in endowing robots with human-like dexterity, large-scale and diverse datasets remain scarce due to the significant hardware hete…
PIGEON: VLM-Driven Object Navigation via Points of Interest Selection
Cheng Peng, Zhenzhe Zhang, Xiaobao Wei +7
Object navigation in unseen indoor environments requires agents to perform semantic search under partial observability. Vision-language models (VLMs) provide strong semantic-spatia…
RoboOS-NeXT: A Unified Memory-based Framework for Lifelong, Scalable, and Robust Multi-Robot Collaboration
Huajie Tan, Cheng Chi, Xiansheng Chen +21
The proliferation of collaborative robots across diverse tasks and embodiments presents a central challenge: achieving lifelong adaptability, scalable coordination, and robust sche…
From Language to Locomotion: Retargeting-free Humanoid Control via Motion Latent Guidance
Zhe Li, Cheng Chi, Yangyang Wei +7
Natural language offers a natural interface for humanoid robots, but existing language-guided humanoid locomotion pipelines remain cumbersome and untrustworthy. They typically deco…