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GEM-Occ: From Visual Geometry Evidence to Embodied Semantic Occupancy Memory
Hu Zhu, Bohan Li, Xianda Guo +6
Semantic occupancy provides a structured spatial memory for embodied indoor agents by jointly representing occupied regions, observed free space, unknown areas, and object semantic…
DeformGen: Dynamics-Based Topology Augmentation for Deformable Manipulation Policy Learning
Zili Lin, Wenyao Zhang, Yuyang Zhang +9
Demonstration augmentation is proposed for cost-efficient data acquisition, but existing methods are fundamentally limited in deformable manipulation due to two challenges: (1) the…
Disentangled Robot Learning via Separate Forward and Inverse Dynamics Pretraining
Wenyao Zhang, Bozhou Zhang, Zekun Qi +3
Vision-language-action (VLA) models have shown great potential in building generalist robots, but still face a dilemma-misalignment of 2D image forecasting and 3D action prediction…
ReWorld: Multi-Dimensional Reward Modeling for Embodied World Models
Baorui Peng, Wenyao Zhang, Liang Xu +5
Recently, video-based world models that learn to simulate the dynamics have gained increasing attention in robot learning. However, current approaches primarily emphasize visual ge…
PvP: Data-Efficient Humanoid Robot Learning with Proprioceptive-Privileged Contrastive Representations
Mingqi Yuan, Tao Yu, Haolin Song +4
Achieving efficient and robust whole-body control (WBC) is essential for enabling humanoid robots to perform complex tasks in dynamic environments. Despite the success of reinforce…
A Survey of Behavior Foundation Model: Next-Generation Whole-Body Control System of Humanoid Robots
Mingqi Yuan, Tao Yu, Wenqi Ge +8
Humanoid robots are drawing significant attention as versatile platforms for complex motor control, human-robot interaction, and general-purpose physical intelligence. However, ach…