14 papers
OmniVerifier-C1: Decomposed Graded Verifier for Rule-Governed Generative World Modeling
Bowei Liu, Xinchen Zhang, Xuhuan Li +10
Generative visual verifiers play a crucial role in advancing multimodal intelligence. To enhance the robustness of visual verifiers in complex multimodal scenarios involving compos…
ForgeDrive: Bidirectional Cross-Conditioning for Unified Visual-Action Generation in Autonomous Driving
Xuchang Zhong, He Zheng, Chenxu Zhao +9
World-model-based autonomous driving endows the model with the ability to understand scene evolution. Yet this promise is undermined by the prevailing imagine-then-act paradigm, wh…
PerceptDrive: Perception Prior World-Action Modeling with Adaptive Expert Routing for End-to-End Autonomous Driving
Yushan Liu, Tianxiong Lv, Bohua Wang +11
Frozen perception foundation models encode rich geometric, semantic, and dynamic knowledge. Yet narrow conditioning interfaces may attenuate task-relevant cues, while static fusion…
ABot-N1: Toward a General Visual Language Navigation Foundation Model
Ruiyan Gong, Yingnan Guo, Junjun Hu +43
Visual Language Navigation foundation models aim to unify deep reasoning for grounded spatial decisions with broad versatility for diverse embodied tasks. Current approaches typica…
Behavior Foundations for Quadruped Robots: ABot-C0 Technical Report
Xufeng Zhao, Fuzhi Yang, Jianhui Chen +17
The motion controller is one of the most fundamental modules in embodied intelligence systems. Driven by large-scale human motion-capture data and the motion-tracking paradigm, hum…
Unleashing Infinite Motion: Scaling Expressive Quadrupedal Motion via Generative Video Priors
Youzhi Liu, Li Gao, Yifei Qian +3
Quadruped robots have achieved remarkable locomotion, yet their behavioral repertoire remains confined to a few gaits--far from the expressive, companion-like presence long envisio…
Constraint-Aware Diffusion Priors for High-Fidelity and Versatile Quadruped Locomotion
Jianhui Chen, Ruixin Zhan, Liu Liu +2
Reinforcement learning combined with imitation learning has significantly advanced biomimetic quadrupedal locomotion. However, scaling these frameworks to massive, multi-source dat…
CoMaTrack: Competitive Multi-Agent Game-Theoretic Tracking with Vision-Language-Action Models
Youzhi Liu, Li Gao, Liu Liu +2
Embodied Visual Tracking (EVT), a core dynamic task in embodied intelligence, requires an agent to precisely follow a language-specified target. Yet most existing methods rely on s…
QuadFM: Foundational Text-Driven Quadruped Motion Dataset for Generation and Control
Li Gao, Fuzhi Yang, Jianhui Chen +4
Despite significant advances in quadrupedal robotics, a critical gap persists in foundational motion resources that holistically integrate diverse locomotion, emotionally expressiv…
ABot-N0: Technical Report on the VLA Foundation Model for Versatile Embodied Navigation
Zedong Chu, Shichao Xie, Xiaolong Wu +41
Embodied navigation has long been fragmented by task-specific architectures. We introduce ABot-N0, a unified Vision-Language-Action (VLA) foundation model that achieves a ``Grand U…
Smooth Operator: Smooth Verifiable Reward Activates Spatial Reasoning Ability of Vision-Language Model
Siwen Jiao, Tianxiong Lv, Kangan Qian +7
Vision-Language Models (VLMs) face a critical bottleneck in achieving precise numerical prediction for 3D scene understanding. Traditional reinforcement learning (RL) approaches, p…
VideoPerceiver: Enhancing Fine-Grained Temporal Perception in Video Multimodal Large Language Models
Fufangchen Zhao, Liao Zhang, Daiqi Shi +5
We propose VideoPerceiver, a novel video multimodal large language model (VMLLM) that enhances fine-grained perception in video understanding, addressing VMLLMs' limited ability to…
CE-Nav: Flow-Guided Reinforcement Refinement for Cross-Embodiment Local Navigation
Kai Yang, Tianlin Zhang, Zhengbo Wang +4
Generalizing local navigation policies across diverse robot morphologies is a critical challenge. Progress is often hindered by the need for costly and embodiment-specific data, th…
DiffVL: Diffusion-Based Visual Localization on 2D Maps via BEV-Conditioned GPS Denoising
Li Gao, Hongyang Sun, Liu Liu +2
Accurate visual localization is crucial for autonomous driving, yet existing methods face a fundamental dilemma: While high-definition (HD) maps provide high-precision localization…