8 papers
Accelerated Mirror Descent Method through Variable and Operator Splitting
Long Chen, Hao Luo, Jingrong Wei +2
Mirror descent uses the mirror function to encode geometry and constraints, improving convergence while preserving feasibility. Accelerated Mirror Descent Methods (Acc-MD) are deri…
Being-H0.5: Scaling Human-Centric Robot Learning for Cross-Embodiment Generalization
Hao Luo, Ye Wang, Wanpeng Zhang +9
We introduce Being-H0.5, a foundational Vision-Language-Action (VLA) model designed for robust cross-embodiment generalization across diverse robotic platforms. While existing VLAs…
Spatial-Aware VLA Pretraining through Visual-Physical Alignment from Human Videos
Yicheng Feng, Wanpeng Zhang, Ye Wang +4
Vision-Language-Action (VLA) models provide a promising paradigm for robot learning by integrating visual perception with language-guided policy learning. However, most existing ap…
Lumine: An Open Recipe for Building Generalist Agents in 3D Open Worlds
Weihao Tan, Xiangyang Li, Yunhao Fang +11
We introduce Lumine, the first open recipe for developing generalist agents capable of completing hours-long complex missions in real time within challenging 3D open-world environm…
Being-H0: Vision-Language-Action Pretraining from Large-Scale Human Videos
Hao Luo, Yicheng Feng, Wanpeng Zhang +7
We introduce Being-H0, a dexterous Vision-Language-Action model (VLA) trained on large-scale human videos. Existing VLAs struggle with complex manipulation tasks requiring high dex…
Unified Multimodal Understanding via Byte-Pair Visual Encoding
Wanpeng Zhang, Yicheng Feng, Hao Luo +4
Multimodal large language models (MLLMs) have made significant progress in vision-language understanding, yet effectively aligning different modalities remains a fundamental challe…