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cs.RO2026
HaWMPO: Hallucination-Aware World Model-based Policy Optimization for Generalist Robot Policy
Zengjue Chen, Peidong Liu, Jiawei Li +1
Generalist robot policies have demonstrated strong generalization across robotic manipulation tasks, yet their success rates remain limited in com- plex long-horizon scenarios. Rec…
cs.RO2026
CometVLA: Co-Training on an Embodied Data Pyramid towards Physical Understanding
Hanwen Wan, Dafeng Chi, Linbo Zhai +6
Vision-language-action (VLA) models remain brittle in manipulation tasks that require physical commonsense. Current physical VQA data is typically disembodied and misaligned with r…
cs.RO2026
JoyAI-Sim: A Simulation-Enabled Interconversion Toolchain for the Embodied Data Pyramid
Peidong Liu, Yongce Liu, Songyan Guo +34
Generalist robot policies require trustworthy evaluation and robot-usable training data, but both are difficult to scale with physical robots alone. Real-robot trials and demonstra…