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cs.CV2025
MSGNav: Unleashing the Power of Multi-modal 3D Scene Graph for Zero-Shot Embodied Navigation
Xun Huang, Shijia Zhao, Yunxiang Wang +6
Embodied navigation is a fundamental capability for robotic agents operating. Real-world deployment requires open vocabulary generalization and low training overhead, motivating ze…
cs.AI2025
EmboMatrix: A Scalable Training-Ground for Embodied Decision-Making
Zixing Lei, Sheng Yin, Yichen Xiong +8
Embodied decision-making enables agents to translate high-level goals into executable actions through continuous interactions within the physical world, forming a cornerstone of ge…
cs.RO2025
PolySim: Bridging the Sim-to-Real Gap for Humanoid Control via Multi-Simulator Dynamics Randomization
Zixing Lei, Zibo Zhou, Sheng Yin +7
Humanoid whole-body control (WBC) policies trained in simulation often suffer from the sim-to-real gap, which fundamentally arises from simulator inductive bias, the inherent assum…