6 papers
PokeVLA: Empowering Pocket-Sized Vision-Language-Action Model with Comprehensive World Knowledge Guidance
Yupeng Zheng, Xiang Li, Songen Gu +12
Recent advances in Vision-Language-Action (VLA) models have opened new avenues for robot manipulation, yet existing methods exhibit limited efficiency and a lack of high-level know…
VistaBot: View-Robust Robot Manipulation via Spatiotemporal-Aware View Synthesis
Songen Gu, Yuhang Zheng, Weize Li +6
Recently, end-to-end robotic manipulation models have gained significant attention for their generalizability and scalability. However, they often suffer from limited robustness to…
Goal2Skill: Long-Horizon Manipulation with Adaptive Planning and Reflection
Zhen Liu, Xinyu Ning, Zhe Hu +8
Recent vision-language-action (VLA) systems have demonstrated strong capabilities in embodied manipulation. However, most existing VLA policies rely on limited observation windows…
World In Your Hands: A Large-Scale and Open-Source Ecosystem for Learning Human-Centric Manipulation in the Wild
Yupeng Zheng, Jichao Peng, Weize Li +22
We introduce World In Your Hands (WIYH), a large-scale open-source ecosystem comprising over 1,000 hours of human manipulation data collected in-the-wild with millimeter-scale moti…
UniArt: Unified 3D Representation for Generating 3D Articulated Objects with Open-Set Articulation
Bu Jin, Weize Li, Songen Gu +4
Articulated 3D objects play a vital role in realistic simulation and embodied robotics, yet manually constructing such assets remains costly and difficult to scale. In this paper,…
Taming VR Teleoperation and Learning from Demonstration for Multi-Task Bimanual Table Service Manipulation
Weize Li, Zhengxiao Han, Lixin Xu +4
This technical report presents the champion solution of the Table Service Track in the ICRA 2025 What Bimanuals Can Do (WBCD) competition. We tackled a series of demanding tasks un…