15 papers
Lift3D-VLA: Lifting VLA Models to 3D Geometry and Dynamics-Aware Manipulation
Jiaming Liu, Qingpo Wuwu, Nuowei Han +8
Recently, Vision-Language-Action (VLA) models have demonstrated strong generalization across diverse tasks. However, effective robotic manipulation in physical environments fundame…
LaST-HD: Learning Latent Physical Reasoning from Scalable Human Data for Robot Manipulation
Jiaming Liu, Yinxi Wang, Chenyang Gu +15
Human-hand demonstrations provide a direct and scalable source of physical interaction data for robot learning. While manual retargeting is indispensable for establishing kinematic…
MV-WAM: Manifold-Aware World Action Model with Value Augmentation
Jintao Chen, Peidong Jia, Qingpo Wuwu +13
Achieving robust and generalizable manipulation across diverse environments remains a fundamental challenge in embodied robotics. Recent world action models achieve strong in-domai…
Agents' Last Exam
Yiyou Sun, Xinyang Han, Weichen Zhang +378
Recent AI systems have achieved strong results on a wide range of benchmarks, yet these gains have not translated into economically meaningful deployment across many professional d…
GraspFoM: Towards Reconstruction-Driven Robotic Grasping with 3D Foundation Priors
Dongli Wu, Xiaobao Wei, Hao Wang +5
Robotic grasping is a fundamental capability in robotic manipulation. Yet grasping remains challenging under partial observations. Reliable grasping depends on both local contact c…
SparseStreet: Sparse Gaussian Splatting for Real-Time Street Scene Simulation
Qingpo Wuwu, Xiaobao Wei, Peng Chen +6
While 3D Gaussian Splatting has shown promising results in street scene reconstruction, existing methods require massive numbers of Gaussian primitives to capture fine details, lea…
Wow, wo, val! A Comprehensive Embodied World Model Evaluation Turing Test
Chun-Kai Fan, Xiaowei Chi, Xiaozhu Ju +18
As world models gain momentum in Embodied AI, an increasing number of works explore using video foundation models as predictive world models for downstream embodied tasks like 3D p…
ManualVLA: A Unified VLA Model for Chain-of-Thought Manual Generation and Robotic Manipulation
Chenyang Gu, Jiaming Liu, Hao Chen +9
Vision-Language-Action (VLA) models have recently emerged, demonstrating strong generalization in robotic scene understanding and manipulation. However, when confronted with long-h…
RoboArmGS: High-Quality Robotic Arm Splatting via Bézier Curve Refinement
Hao Wang, Xiaobao Wei, Ying Li +6
Constructing photorealistic and controllable robotic arm digital assets from real observations is fundamental to robotic applications. Current approaches naively bind static 3D Gau…
WoW: Towards a World omniscient World model Through Embodied Interaction
Xiaowei Chi, Peidong Jia, Chun-Kai Fan +33
Humans develop an understanding of intuitive physics through active interaction with the world. This approach is in stark contrast to current video models, such as Sora, which rely…
OmniIndoor3D: Comprehensive Indoor 3D Reconstruction
Xiaobao Wei, Xiaoan Zhang, Hao Wang +4
We propose a novel framework for comprehensive indoor 3D reconstruction using Gaussian representations, called OmniIndoor3D. This framework enables accurate appearance, geometry, a…
PINNsAgent: Automated PDE Surrogation with Large Language Models
Qingpo Wuwu, Chonghan Gao, Tianyu Chen +6
Solving partial differential equations (PDEs) using neural methods has been a long-standing scientific and engineering research pursuit. Physics-Informed Neural Networks (PINNs) ha…
MixedGaussianAvatar: Realistically and Geometrically Accurate Head Avatar via Mixed 2D-3D Gaussians
Peng Chen, Xiaobao Wei, Qingpo Wuwu +3
Reconstructing high-fidelity 3D head avatars is crucial in various applications such as virtual reality. The pioneering methods reconstruct realistic head avatars with Neural Radia…
EMD: Explicit Motion Modeling for High-Quality Street Gaussian Splatting
Xiaobao Wei, Qingpo Wuwu, Zhongyu Zhao +5
Photorealistic reconstruction of street scenes is essential for developing real-world simulators in autonomous driving. While recent methods based on 3D/4D Gaussian Splatting (GS)…
Implicit Neural Image Field for Biological Microscopy Image Compression
Gaole Dai, Cheng-Ching Tseng, Qingpo Wuwu +9
The rapid pace of innovation in biological microscopy imaging has led to large images, putting pressure on data storage and impeding efficient sharing, management, and visualizatio…