6 papers
Foresight: Failure Detection for Long-Horizon Robotic Manipulation with Action-Conditioned World Model Latents
Haoran Zhang, Yifu Lu, Boyang Wang +5
Long-horizon tasks are common in real-world robotic deployments, yet failure detection for such tasks remains underexplored. Detecting failures in long-horizon robotic tasks is par…
Social-JEPA: Emergent Geometric Isomorphism
Haoran Zhang, Youjin Wang, Yi Duan +6
World models compress rich sensory streams into compact latent codes that anticipate future observations. We let separate agents acquire such models from distinct viewpoints of the…
RoboVIP: Multi-View Video Generation with Visual Identity Prompting Augments Robot Manipulation
Boyang Wang, Haoran Zhang, Shujie Zhang +8
The diversity, quantity, and quality of manipulation data are critical for training effective robot policies. However, due to hardware and physical setup constraints, collecting la…
StarBench: A Turn-Based RPG Benchmark for Agentic Multimodal Decision-Making and Information Seeking
Haoran Zhang, Chenhao Zhu, Sicong Guo +3
Human players do more than press buttons: they ground what they see on screen into precise keyboard-mouse actions and, when stuck, they seek information before trying again. We ask…
SAGE-Music: Low-Latency Symbolic Music Generation via Attribute-Specialized Key-Value Head Sharing
Jiaye Tan, Haonan Luo, Linfeng Song +10
Low-latency symbolic music generation is essential for real-time improvisation and human-AI co-creation. Existing transformer-based models, however, face a trade-off between infere…
Scaling-up Perceptual Video Quality Assessment
Ziheng Jia, Zicheng Zhang, Zeyu Zhang +12
The data scaling law has been shown to significantly enhance the performance of large multi-modal models (LMMs) across various downstream tasks. However, in the domain of perceptua…