4 papers
DUET: Decoupled Upper- and Lower-Body Execution for Task-Agnostic Humanoid Loco-Manipulation
Kapalik Khanal, Biswash Khatiwada, Stephen Afrifa +2
Changing a humanoid robot's manipulation policy should not require retraining the controller that maintains the robot's balance. This study introduces DUET, a decoupled execution f…
AnyWorld: Factorized Egocentric World Models for Cross-Embodiment Generalization
Cheng Chen, Jerry Bai, Jiacheng Wei +11
Collecting contact-rich robot experiences at scale remains a major bottleneck for generalizable manipulation. Beyond data quantity, robot learning also requires diverse experiences…
PhyCustom: Towards Realistic Physical Customization in Text-to-Image Generation
Fan Wu, Cheng Chen, Zhoujie Fu +4
Recent diffusion-based text-to-image customization methods have achieved significant success in understanding concrete concepts to control generation processes, such as styles and…
IC-World: In-Context Generation for Shared World Modeling
Fan Wu, Jiacheng Wei, Ruibo Li +4
Video-based world models have recently garnered increasing attention for their ability to synthesize diverse and dynamic visual environments. In this paper, we focus on shared worl…