6 papers · 1 filter
RoboArena: Distributed Real-World Evaluation of Generalist Robot Policies
Pranav Atreya, Karl Pertsch, Tony Lee +29
Comprehensive, unbiased, and comparable evaluation of modern generalist policies is uniquely challenging: existing approaches for robot benchmarking typically rely on heavy standar…
VLA-0: Building State-of-the-Art VLAs with Zero Modification
Ankit Goyal, Hugo Hadfield, Xuning Yang +2
Vision-Language-Action models (VLAs) hold immense promise for enabling generalist robot manipulation. However, the best way to build them remains an open question. Current approach…
Omni-Perception: Omnidirectional Collision Avoidance for Legged Locomotion in Dynamic Environments
Zifan Wang, Teli Ma, Yufei Jia +5
Agile locomotion in complex 3D environments requires robust spatial awareness to safely avoid diverse obstacles such as aerial clutter, uneven terrain, and dynamic agents. Depth-ba…
Robot Policy Evaluation for Sim-to-Real Transfer: A Benchmarking Perspective
Xuning Yang, Clemens Eppner, Jonathan Tremblay +3
Current vision-based robotics simulation benchmarks have significantly advanced robotic manipulation research. However, robotics is fundamentally a real-world problem, and evaluati…
End-to-End Humanoid Robot Safe and Comfortable Locomotion Policy
Zifan Wang, Xun Yang, Jianzhuang Zhao +5
The deployment of humanoid robots in unstructured, human-centric environments requires navigation capabilities that extend beyond simple locomotion to include robust perception, pr…
Inference-Time Policy Steering through Human Interactions
Yanwei Wang, Lirui Wang, Yilun Du +6
Generative policies trained with human demonstrations can autonomously accomplish multimodal, long-horizon tasks. However, during inference, humans are often removed from the polic…