4 papers
ReWorld: Multi-Dimensional Reward Modeling for Embodied World Models
Baorui Peng, Wenyao Zhang, Liang Xu +5
Recently, video-based world models that learn to simulate the dynamics have gained increasing attention in robot learning. However, current approaches primarily emphasize visual ge…
Perceiving and Acting in First-Person: A Dataset and Benchmark for Egocentric Human-Object-Human Interactions
Liang Xu, Chengqun Yang, Zili Lin +11
Learning action models from real-world human-centric interaction datasets is important towards building general-purpose intelligent assistants with efficiency. However, most existi…
TeleOpBench: A Simulator-Centric Benchmark for Dual-Arm Dexterous Teleoperation
Hangyu Li, Qin Zhao, Haoran Xu +10
Teleoperation is a cornerstone of embodied-robot learning, and bimanual dexterous teleoperation in particular provides rich demonstrations that are difficult to obtain with fully a…
MotionBank: A Large-scale Video Motion Benchmark with Disentangled Rule-based Annotations
Liang Xu, Shaoyang Hua, Zili Lin +6
In this paper, we tackle the problem of how to build and benchmark a large motion model (LMM). The ultimate goal of LMM is to serve as a foundation model for versatile motion-relat…