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cs.RO2025
Galaxea Open-World Dataset and G0 Dual-System VLA Model
Tao Jiang, Tianyuan Yuan, Yicheng Liu +7
We present Galaxea Open-World Dataset, a large-scale, diverse collection of robot behaviors recorded in authentic human living and working environments. All demonstrations are gath…
cs.RO2025
Conditioning Matters: Training Diffusion Policies is Faster Than You Think
Zibin Dong, Yicheng Liu, Yinchuan Li +2
Diffusion policies have emerged as a mainstream paradigm for building vision-language-action (VLA) models. Although they demonstrate strong robot control capabilities, their traini…