1 citations · 1 across the 11 of their papers we have counts for
13 papers
VLMs are Native Action Models: Unleashing the Manipulation Capabilities of VLMs with Explicit Action-Space Grounding
Jingkun Yi, Shujie Zhang, Zirui Zhou +8
Pretrained vision-language models (VLMs) already exhibit strong visual, spatial and reasoning capabilities relevant to robotic manipulation. The key challenge in turning pretrained…
Systematically Exploring the Capabilities of GPT-6 Astra as Embodied Policies
Galbot Team, Xuchuan Chen, Xiaoqian Cheng +31
GPT-6 Astra exhibits a remarkable ability to generate numerical robot actions, extending its role beyond high-level planning. To assess Astra's capabilities as general-purpose embo…
RoboSnap: One-Shot Real-to-Sim Scene Generation for Generalizable Robot Learning and Evaluation
Shujie Zhang, Jingkun Yi, Weipeng Zhong +6
Recovering real-world scenes as interactive simulation environments can enable generalizable robot learning and reproducible policy evaluation. However, constructing scenes that ar…
EBench: Elemental Diagnosis of Generalist Mobile Manipulation Policies
Ning Gao, Jinliang Zheng, Xing Gao +22
We present EBench, a simulation benchmark that diagnoses generalist mobile manipulation policies beyond a single success-rate scalar. EBench comprises 26 diverse and challenging ma…
Trans2Occ: Voxel Occupancy Estimation and Grasp for Transparent Objects from Simulation to Reality
Yixuan Yang, Sha Zhang, Rui Li +12
Transparent objects remain challenging for robotic perception due to unreliable depth sensing caused by refraction and reflection. While prior approaches rely on multi-view reconst…
STABLE: Simulation-Ready Tabletop Layout Generation via a Semantics-Physics Dual System
Zhen Luo, Yixuan Yang, Xudong Xu +5
Generating simulation-ready tabletop scenes from task instructions is an intriguing and promising research direction in the field of Embodied AI. However, existing task-to-scene ge…
Code-as-Room: Generating 3D Rooms from Top-Down View Images via Agentic Code Synthesis
Yixuan Yang, Zhen Luo, Wanshui Gan +5
Designing realistic and functional 3D indoor rooms is essential for a wide range of applications, including interior design, virtual reality, gaming, and embodied AI. While recent…
ClothTransformer: Unified Latent-Space Transformers for Scalable Cloth Simulation
Yu Zhang, Yidi Shao, Wenqi Ouyang +5
Unified and scalable Transformers have recently achieved remarkable success in modeling diverse phenomena traditionally associated with computer graphics, such as 3D visual effects…
EgoSim: Egocentric World Simulator for Embodied Interaction Generation
Jinkun Hao, Mingda Jia, Ruiyan Wang +7
We introduce EgoSim, a closed-loop egocentric world simulator that generates spatially consistent interaction videos and persistently updates the underlying 3D scene state for cont…
PnP-U3D: Plug-and-Play 3D Framework Bridging Autoregression and Diffusion for Unified Understanding and Generation
Yongwei Chen, Tianyi Wei, Yushi Lan +4
The rapid progress of large multimodal models has inspired efforts toward unified frameworks that couple understanding and generation. While such paradigms have shown remarkable su…
RoboVIP: Multi-View Video Generation with Visual Identity Prompting Augments Robot Manipulation
Boyang Wang, Haoran Zhang, Shujie Zhang +8
The diversity, quantity, and quality of manipulation data are critical for training effective robot policies. However, due to hardware and physical setup constraints, collecting la…
MesaTask: Towards Task-Driven Tabletop Scene Generation via 3D Spatial Reasoning
Jinkun Hao, Naifu Liang, Zhen Luo +8
The ability of robots to interpret human instructions and execute manipulation tasks necessitates the availability of task-relevant tabletop scenes for training. However, tradition…
Sounding Bodies: Modeling 3D Spatial Sound of Humans Using Body Pose and Audio
Xudong Xu, Dejan Markovic, Jacob Sandakly +3
While 3D human body modeling has received much attention in computer vision, modeling the acoustic equivalent, i.e. modeling 3D spatial audio produced by body motion and speech, ha…