5 papers
EmbodiedSmith: Scaling Embodied Data through Recursive Self-Improvement Flywheel in Simulation
Yikai Qin, Yifei Deng, Mingjian Liang +13
Scaling robotic foundation models requires diverse training data and reliable evaluation environments. Simulation offers a scalable solution, yet existing generation pipelines rema…
RePlan-Bot: Multi-Level Replanning for Embodied Instruction Following
Xicheng Gong, Guozheng Sun, Peiran Xu +1
Embodied instruction following (EIF) requires agents to understand and execute complex natural language commands within interactive 3D environments. Despite recent advances, existi…
Extending Embodied Question Answering from Perception to Decision
Xicheng Gong, Qiwei Li, Peiran Xu +1
Embodied Question Answering (EQA) connects perception, reasoning, and interaction within embodied environments. However, existing datasets and benchmarks remain fragmented, each fo…
RotVLA: Rotational Latent Action for Vision-Language-Action Model
Qiwei Li, Xicheng Gong, Xinghang Li +5
Latent Action Models (LAMs) have emerged as an effective paradigm for handling heterogeneous datasets during Vision-Language-Action (VLA) model pretraining, offering a unified acti…
NavQ: Learning a Q-Model for Foresighted Vision-and-Language Navigation
Peiran Xu, Xicheng Gong, Yadong MU
In this work we concentrate on the task of goal-oriented Vision-and-Language Navigation (VLN). Existing methods often make decisions based on historical information, overlooking th…