6 papers · 1 filter
Closing the Loop in Humanoid VLA: Persistent 3D Object Tokens for Verifiable Loco-Manipulation
Peng Ren, Haoyang Ge, Jiang Zhao +4
Vision-language-action policies are a promising foundation for general robot control, but long-horizon humanoid loco-manipulation requires the robot to treat task objects as persis…
Human-as-Humanoid: Enabling Zero-Shot Humanoid Learning from Ego-Exo Human Videos with Human-Aligned Embodiments
Xiaopeng Lin, Ruoqi Yang, Shijie Lian +14
Vision-language-action (VLA) models across robot embodiments require high-quality observation--action supervision to learn deployable action distributions, yet scaling such robot d…
EgoPriMo: Egocentric Motion Generation for Interactive Humanoid Control
Haoyang Ge, Peng Ren, Yukun Shi +3
Humanoid robots require whole-body motions that adapt to scene context, task requirements, and user intent. Motion tracking reproduces specified trajectories, and humanoid vision-l…
PhysBrain 1.0 Technical Report
Shijie Lian, Bin Yu, Xiaopeng Lin +10
Vision-language-action models have advanced rapidly, but robot trajectories alone provide limited coverage for learning broad physical understanding. PhysBrain 1.0 studies a comple…
STARRY: Spatial-Temporal Action-Centric World Modeling for Robotic Manipulation
Yuxuan Tian, Yurun Jin, Bin Yu +5
Robotic manipulation requires reasoning about future spatial-temporal interactions and geometric constraints, yet existing Vision-Language-Action (VLA) policies often leave predict…
PhysBrain: Human Egocentric Data as a Bridge from Vision Language Models to Physical Intelligence
Xiaopeng Lin, Shijie Lian, Bin Yu +10
Robotic generalization relies on physical intelligence: the ability to reason about state changes, contact-rich interactions, and long-horizon planning under egocentric perception…