7 papers
HumanoidArena: Benchmarking Egocentric Hierarchical Whole-body Learning
Taowen Wang, Zikang Xie, Bin Yang +13
Humanoid robots promise whole-body interaction in human-centered environments, but scalable policy learning remains difficult because task-level decision-making and whole-body dyna…
What Limits Vision-and-Language Navigation ?
Yunheng Wang, Yuetong Fang, Taowen Wang +9
Vision-and-Language Navigation (VLN) is a cornerstone of embodied intelligence. However, current agents often suffer from significant performance degradation when transitioning fro…
UniGround: Universal 3D Visual Grounding via Training-Free Scene Parsing
Jiaxi Zhang, Yunheng Wang, Wei Lu +8
3D Visual Grounding (3DVG) localizes objects from natural-language descriptions in 3D scenes and is fundamental to embodied AI applications. Although foundation models enable open-…
Spherical Latent Motion Prior for Physics-Based Simulated Humanoid Control
Jing Tan, Weisheng Xu, Xiangrui Jiang +11
Learning motion priors for physics-based humanoid control is an active research topic. Existing approaches mainly include variational autoencoders (VAE) and adversarial motion prio…
PDF-HR: Pose Distance Fields for Humanoid Robots
Yi Gu, Yukang Gao, Yangchen Zhou +7
Pose and motion priors play a crucial role in humanoid robotics. Although such priors have been widely studied in human motion recovery (HMR) domain with a range of models, their a…
HERO: Hierarchical Traversable 3D Scene Graphs for Embodied Navigation Among Movable Obstacles
Yunheng Wang, Yixiao Feng, Yuetong Fang +5
3D Scene Graphs (3DSGs) constitute a powerful representation of the physical world, distinguished by their abilities to explicitly model the complex spatial, semantic, and function…