13 papers
ForeTac: Predictive Contact Guidance for Generative Robot Policies
Zhiyuan Chen, Shuai Chen, Haoran Zhou +7
In contact-rich manipulation, actions that appear equally plausible from vision can produce different contact outcomes, while reactive control based on current tactile feedback may…
Xiaomi-Robotics-1: Scaling Vision-Language-Action Models with over 100K Hours of Real-World Trajectories
Xiaomi Robotics Team, Jun Guo, Piaopiao Jin +31
We present Xiaomi-Robotics-1, a foundational vision-language-action (VLA) model capable of (1) following diverse language instructions to perform a wide range of mobile manipulatio…
Xiaomi-Robotics-U0: Unified Embodied Synthesis with World Foundation Model
Xinghang Li, Jun Guo, Qiwei Li +21
Recent foundation image and video generation models offer strong generalization and controllability, but their direct application to embodied scenarios is limited by requirements f…
VAIC: Vision-Guided Humanoid Agile Object Interaction Control via Decoupled Commands
Dongting Li, Qianyang Wu, Xingyu Chen +9
Humanoid robots hold immense potential for real-world assistance, yet agile interaction with objects in unstructured environments demands tightly coupled whole-body coordination. D…
Xiaomi-Robotics-0: An Open-Sourced Vision-Language-Action Model with Real-Time Execution
Rui Cai, Jun Guo, Xinze He +20
In this report, we introduce Xiaomi-Robotics-0, an advanced vision-language-action (VLA) model optimized for high performance and fast and smooth real-time execution. The key to ou…
Choose What to Manipulate: Revealing Data Scaling Laws in Bounding-Box Guided Policies for Semantic Manipulation
Yihao Wu, Jinming Ma, Junbo Tan +5
Diffusion-based policies generalize poorly in semantic manipulation, a key obstacle to real-world deployment, because text-only instructions cannot reliably steer the policy toward…
HAIC: Humanoid Agile Object Interaction Control via Dynamics-Aware World Model
Dongting Li, Xingyu Chen, Qianyang Wu +10
Humanoid robots show promise for complex whole-body tasks in unstructured environments. Although Human-Object Interaction (HOI) has advanced, most methods focus on fully actuated o…
An Efficient and Multi-Modal Navigation System with One-Step World Model
Wangtian Shen, Ziyang Meng, Jinming Ma +2
Navigation is a fundamental capability for mobile robots. While the current trend is to use learning-based approaches to replace traditional geometry-based methods, existing end-to…
MiMo-Embodied: X-Embodied Foundation Model Technical Report
Xiaoshuai Hao, Lei Zhou, Zhijian Huang +41
We open-source MiMo-Embodied, the first cross-embodied foundation model to successfully integrate and achieve state-of-the-art performance in both Autonomous Driving and Embodied A…
Reinforced Embodied Planning with Verifiable Reward for Real-World Robotic Manipulation
Zitong Bo, Yue Hu, Jinming Ma +7
Enabling robots to execute long-horizon manipulation tasks from free-form language instructions remains a fundamental challenge in embodied AI. While vision-language models (VLMs)…
TacRefineNet: Goal-Conditioned Tactile Grasp Refinement for Edge-Prominent Objects
Shuaijun Wang, Haoran Zhou, Diyun Xiang +1
Accurate final grasp alignment remains challenging for edge-prominent objects such as thin plates, discs, and rods, whose sparse contacts are easily occluded and poorly resolved by…
A Scalable Whole-body Motion Transfer via Implicit Kinodynamic Motion Retargeting
Xingyu Chen, Hanyu Wu, Sikai Wu +7
Human-to-humanoid imitation learning presents a promising pathway to address the severe data scarcity bottleneck in robotics by utilizing abundant, large-scale human motion collect…
State Estimation Transformers for Agile Legged Locomotion
Chen Yu, Yichu Yang, Tianlin Liu +3
We propose a state estimation method that can accurately predict the robot's privileged states to push the limits of quadruped robots in executing advanced skills such as jumping i…