12 papers
Unified Motion Retargeting for Humanoids with Learned Point Cloud Correspondence
Hanyang Cao, Yuetong Fang, Taesoo Kwon +10
Humanoid learning increasingly relies on transforming vast and diverse human motion data into high-quality robot reference trajectories. However, retargeting human motion to humano…
A Neuromorphic Reinforcement Learning Framework for Efficient Pathfinding in Robotic Mobile Fulfillment Systems
Junzhe Xu, Zecui Zeng, Lusong Li +2
Dynamic environmental changes, confined workspaces, and stringent real-time constraints make pathfinding in Robotic Mobile Fulfillment Systems (RMFS) a challenging problem for conv…
Not All Actions Are Equal: Rethinking Conditioning for Dexterous World Model
Zizhao Yuan, Zhengtu Liang, Taowen Wang +7
Recent advances in action-conditioned world models show promising progress in modeling complex interactions and forecasting future states under diverse action sequences. While thes…
WatchAct: A Benchmark for Behavior-Grounded Robot Manipulation
Baiqi Li, Ce Zhang, Yu Fang +4
A robot working alongside people must reason about what they have done, in what order, and with what intent. Video carries the spatial layouts, object histories, and gestures that…
HumanoidArena: Benchmarking Egocentric Hierarchical Whole-body Learning
Taowen Wang, Zikang Xie, Bin Yang +13
Humanoid robots promise whole-body interaction in human-centered environments, but scalable policy learning remains difficult because task-level decision-making and whole-body dyna…
What Limits Vision-and-Language Navigation ?
Yunheng Wang, Yuetong Fang, Taowen Wang +9
Vision-and-Language Navigation (VLN) is a cornerstone of embodied intelligence. However, current agents often suffer from significant performance degradation when transitioning fro…
Iterative Closed-Loop Motion Synthesis for Scaling the Capabilities of Humanoid Control
Weisheng Xu, Qiwei Wu, Jiaxi Zhang +7
Physics-based humanoid control relies on training with motion datasets that have diverse data distributions. However, the fixed difficulty distribution of datasets limits the perfo…
UniGround: Universal 3D Visual Grounding via Training-Free Scene Parsing
Jiaxi Zhang, Yunheng Wang, Wei Lu +8
3D Visual Grounding (3DVG) localizes objects from natural-language descriptions in 3D scenes and is fundamental to embodied AI applications. Although foundation models enable open-…
Spherical Latent Motion Prior for Physics-Based Simulated Humanoid Control
Jing Tan, Weisheng Xu, Xiangrui Jiang +11
Learning motion priors for physics-based humanoid control is an active research topic. Existing approaches mainly include variational autoencoders (VAE) and adversarial motion prio…
LiLo-VLA: Compositional Long-Horizon Manipulation via Linked Object-Centric Policies
Yue Yang, Shuo Cheng, Yu Fang +4
General-purpose robots must master long-horizon manipulation, defined as tasks involving multiple kinematic structure changes (e.g., attaching or detaching objects) in unstructured…
Future Optical Flow Prediction Improves Robot Control & Video Generation
Kanchana Ranasinghe, Honglu Zhou, Yu Fang +7
Future motion representations, such as optical flow, offer immense value for control and generative tasks. However, forecasting generalizable spatially dense motion representations…
Robotic VLA Benefits from Joint Learning with Motion Image Diffusion
Yu Fang, Kanchana Ranasinghe, Le Xue +10
Vision-Language-Action (VLA) models have achieved remarkable progress in robotic manipulation by mapping multimodal observations and instructions directly to actions. However, they…