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cs.RO2026
IronMind: Scaling Humanoid Dexterous Manipulation via Camera-Space Ego-Centric Pretraining
Huimin Pan, Yufan Ren, Kunpeng Song +16
Egocentric human video offers a scalable data source for dexterous manipulation, yet using it to train humanoid robots presents two challenges: (1) an embodiment gap, as human hand…
cs.RO2026
RoboSPA: Can VLA Models Go Beyond Simple Scenes and Short-Horizon Tasks?
Zhenxuan Fan, Bo Zhang, Yutong Lin +9
Vision-Language-Action (VLA) models have shown promising progress in language-conditioned robotic manipulation. However, existing datasets and benchmarks mainly evaluate task compl…
cs.RO2026
EmbodiedSkills: World Action Model-augmented Cascaded Skills for Vision-Language-Action Agent
Wei Wang, Wenqiao Zhang, Yutong Lin +14
Vision-language-action (VLA) policies generate executable robot actions, but plausible proposals can have different consequences for the task. We present EmbodiedSkills, a skill-ba…