24 papers
BiDex-100: A Comprehensive Benchmark for Bimanual Dexterous Manipulation Across 100+ Simulation Tasks
Yong Wang, Kecheng Zheng, Xing Zhu +3
Bimanual manipulation with dexterous hands has attracted growing attention in research on robotic action models. However, few studies have developed benchmarks specifically tailore…
FOMI: A Force-Feedback Manipulation Interface for Teaching Contact-Rich Manipulation
Yishu Shen, Yiming Luo, Ruilin Wang +7
Robot-free collection with handheld interfaces enables scalable acquisition of human demonstrations for policy learning. However, existing handheld interfaces often provide limited…
WorldMemBench: A Comprehensive Benchmark for Memory of Video World Models
Nan Zhou, Jianxiong Gao, Qiuyu Wang +10
As video models enable longer and more realistic interactive experiences, maintaining a world consistent with its history becomes essential. This requires both preserving previousl…
Zero-WAM: In-Context World-Action Modeling from Human Videos for Open-Ended Task Generalization
Jiaming Zhou, Qihang Zhang, Gangwei Xu +9
Zero-shot cross-task generalization, where a policy must execute manipulation tasks never seen during training, remains a central challenge in robot learning. In large language mod…
CameraAnything: Refilming Videos with Arbitrary Camera Control
Yixuan Li, Yanhong Zeng, Ka Leong Cheng +11
We introduce CameraAnything, the first unified framework for camera controlled video editing that enables joint control of both intrinsic and extrinsic camera parameters. Existing…
Native Video-Action Pretraining for Generalizable Robot Control
Qihang Zhang, Lin Li, Luyao Zhang +26
The advent of video-action models offers a promising path for robot control. Nevertheless, we argue that repurposing video generative models designed for digital content creation i…
Scaling Mixture-of-Experts Video Pretraining for Embodied Intelligence
Shuailei Ma, Jiaqi Liao, Xinyang Wang +24
Despite the recent promise in robot control, video generative models suffer from a domain mismatch due to their primary focus on content creation. For example, their design inheren…
Infinite Worlds with Versatile Interactions
Zelin Gao, Qiuyu Wang, Jiapeng Zhu +17
We present LingBot-World 2.0 (also known as LingBot-World-Infinity), an advanced iteration of LingBot-World featuring four distinct upgrades. (1) Our model achieves an unbounded in…
From Foundation to Application: Improving VLA Models in Practice
Wei Wu, Fangjing Wang, Fan Lu +21
Despite recent progress of VLA foundation models, the disparity between laboratory conditions and real-world applications continues to impede their practical implementation. To bri…
WorldDirector: Building Controllable World Simulators with Persistent Dynamic Memory
Hanlin Wang, Hao Ouyang, Qiuyu Wang +10
We present WorldDirector, a highly controllable video world model framework designed for persistent dynamic object memory and unrestricted viewpoint exploration. Unlike existing wo…
AetheRock: An Arm-Worn Robot Teaching System for Force-Guided Vision-Tactile Learning
Hong Li, Yue Xu, Yihan Tang +8
Force and tactile sensing are indispensable in contact-rich manipulation. However, force-aware robot learning faces critical challenges due to the incompatible assembly of tactile…
Next Forcing: Causal World Modeling with Multi-Chunk Prediction
Gangwei Xu, Qihang Zhang, Jiaming Zhou +4
Autoregressive video generation has emerged as a powerful paradigm for World Action Models (WAMs). However, existing approaches suffer from slow training convergence and limited co…
GA-VLN: Geometry-Aware BEV Representation for Efficient Vision-Language Navigation
Jiahao Yang, Zihan Wang, Xiangyang Li +4
Despite significant progress in Vision-Language Navigation (VLN), existing approaches still rely on dense RGB videos that produce excessive patch tokens and lack explicit spatial s…
CausalCine: Real-Time Autoregressive Generation for Multi-Shot Video Narratives
Yihao Meng, Zichen Liu, Hao Ouyang +11
Autoregressive video generation aims at real-time, open-ended synthesis. Yet, cinematic storytelling is not merely the endless extension of a single scene; it requires progressing…
SceneScribe-1M: A Large-Scale Video Dataset with Comprehensive Geometric and Semantic Annotations
Yunnan Wang, Kecheng Zheng, Jianyuan Wang +8
The convergence of 3D geometric perception and video synthesis has created an unprecedented demand for large-scale video data that is rich in both semantic and spatio-temporal info…
LingBot-Map: Geometric Context Transformer for Streaming 3D Reconstruction
Lin-Zhuo Chen, Jian Gao, Shangzhan Zhang +9
Streaming 3D reconstruction aims to recover 3D information, such as camera poses and point clouds, from a video stream, which necessitates geometric accuracy, temporal consistency,…
Advancing Open-source World Models
Robbyant Team, Zelin Gao, Qiuyu Wang +21
We present LingBot-World, an open-sourced world simulator stemming from video generation. Positioned as a top-tier world model, LingBot-World offers the following features. (1) It…
Masked Depth Modeling for Spatial Perception
Bin Tan, Changjiang Sun, Xiage Qin +8
Spatial visual perception is a fundamental requirement in physical-world applications like autonomous driving and robotic manipulation, driven by the need to interact with 3D envir…
Causal World Modeling for Robot Control
Lin Li, Qihang Zhang, Yiming Luo +9
This work highlights that video world modeling, alongside vision-language pre-training, establishes a fresh and independent foundation for robot learning. Intuitively, video world…
A Pragmatic VLA Foundation Model
Wei Wu, Fan Lu, Yunnan Wang +22
Offering great potential in robotic manipulation, a capable Vision-Language-Action (VLA) foundation model is expected to faithfully generalize across tasks and platforms while ensu…
Reward Forcing: Efficient Streaming Video Generation with Rewarded Distribution Matching Distillation
Yunhong Lu, Yanhong Zeng, Haobo Li +9
Efficient streaming video generation is critical for simulating interactive and dynamic worlds. Existing methods distill few-step video diffusion models with sliding window attenti…
The World is Your Canvas: Painting Promptable Events with Reference Images, Trajectories, and Text
Hanlin Wang, Hao Ouyang, Qiuyu Wang +12
We present WorldCanvas, a framework for promptable world events that enables rich, user-directed simulation by combining text, trajectories, and reference images. Unlike text-only…
MagicQuillV2: Precise and Interactive Image Editing with Layered Visual Cues
Zichen Liu, Yue Yu, Hao Ouyang +11
We propose MagicQuill V2, a novel system that introduces a \textbf{layered composition} paradigm to generative image editing, bridging the gap between the semantic power of diffusi…
ZeroDexGrasp: Zero-Shot Task-Oriented Dexterous Grasp Synthesis with Prompt-Based Multi-Stage Semantic Reasoning
Juntao Jian, Yi-Lin Wei, Chengjie Mou +5
Task-oriented dexterous grasping holds broad application prospects in robotic manipulation and human-object interaction. However, most existing methods still struggle to generalize…