21 papers
MM-ABC: Towards Generalist Mobile Manipulation via Seeing, Coordinating and Imagining
Qiwei Liang, Guangyu Chen, Shaolong Zhu +6
Mobile manipulation extends robot interaction beyond a fixed kinematic workspace by making the reachable region itself controllable. This flexibility introduces two central challen…
GeoLAM: Learning Geometry-Grounded Latent Actions from Unlabeled Human Videos
Yifan Xie, Hekun Tian, Jinkun Liu +3
Human videos provide rich manipulation experience, but extracting action representations that preserve useful motion remains challenging. Visual reconstruction alone can entangle m…
GLAM: Training a latent world model over global spatiotemporal memory for active exploration and navigation
I-Tak Ieong, Ruizhi Feng, Zhaoyang Lu +5
Active exploration and semantic navigation require an embodied agent to build memory from partial observations, predict how the evolution of observed spatial memory may support fut…
MoPA: Coordinated Mobile Manipulation via Subsystem-Specific Perception Alignment
Guangyu Chen, Qiwei Liang, Shaolong Zhu +7
Mobile manipulation requires perceptual evidence at different spatial scales for base motion and arm control, while the two action modalities remain kinematically coupled. Existing…
CheckVLA: Execution-Time Verification with Action-Conditioned World Model for Long-Horizon Mobile Manipulation
Yushan Liu, Peibo Sun, Xintao Chao +8
Vision-language-action (VLA) policies commonly execute long-horizon mobile manipulation through open-loop action chunks, issuing multiple actions without receiving new high-level v…
FutureNav: Unified World-Action Modeling for Vision-and-Language Navigation
Lingfeng Zhang, Zeying Gong, Xiaoshuai Hao +7
Vision-and-language navigation (VLN) in continuous environments requires an agent to ground instructions in egocentric observations while maintaining spatial understanding across l…
OneVLA: A Unified Framework for Embodied Tasks
Lingfeng Zhang, Xiaoshuai Hao, Yingbo Tang +10
Navigation and manipulation are fundamental capabilities of embodied intelligence, enabling robots to interpret natural language commands and interact physically with their surroun…
Learning Human-Intention Priors from Large-Scale Human Demonstrations for Robotic Manipulation
Yifan Xie, YuAn Wang, Guangyu Chen +3
Human videos contain rich manipulation priors, but using them for robot learning remains difficult because raw observations entangle scene understanding, human motion, and embodime…
Agent-Centric Observation Adaptation for Robust Visual Control under Dynamic Perturbations
Zhengru Fang, Yu Guo, Fei Liu +5
Real-world visual systems face time-varying perturbations, including weather, sensor noise, compression artifacts, and background distractions. Existing image restoration methods a…
OA-WAM: Object-Addressable World Action Model for Robust Robot Manipulation
Yushan Liu, Peibo Sun, Shoujie Li +7
World Action Models (WAMs) enhance Vision-Language-Action policies by jointly predicting scene evolution and robot actions, but existing methods usually represent the predicted wor…
CXR-ContraBench: Benchmarking Negated-Option Attraction in Medical VLMs
Zhengru Fang, Yanan Ma, Yu Guo +5
When a chest X-ray shows consolidation but the question asks which finding is present, a medical vision-language model may answer "No consolidation." This is more than an incorrect…
Thinking in Text and Images: Interleaved Vision--Language Reasoning Traces for Long-Horizon Robot Manipulation
Jinkun Liu, Haohan Chi, Lingfeng Zhang +6
Long-horizon robotic manipulation requires plans that are both logically coherent and geometrically grounded. Existing Vision-Language-Action policies usually hide planning in late…
Walk With Me: Long-Horizon Social Navigation for Human-Centric Outdoor Assistance
Lingfeng Zhang, Xiaoshuai Hao, Xizhou Bu +11
Assisting humans in open-world outdoor environments requires robots to translate high-level natural-language intentions into safe, long-horizon, and socially compliant navigation b…
Weather-Conditioned Branch Routing for Robust LiDAR-Radar 3D Object Detection
Hongsheng Li, Lingfeng Zhang, Zexian Yang +4
Robust 3D object detection in adverse weather is highly challenging due to the varying reliability of different sensors. While existing LiDAR-4D radar fusion methods improve robust…
SocialNav-Map: Dynamic Mapping with Human Trajectory Prediction for Zero-Shot Social Navigation
Lingfeng Zhang, Erjia Xiao, Xiaoshuai Hao +7
Social navigation in densely populated dynamic environments poses a significant challenge for autonomous mobile robots, requiring advanced strategies for safe interaction. Existing…
Is your VLM Sky-Ready? A Comprehensive Spatial Intelligence Benchmark for UAV Navigation
Lingfeng Zhang, Yuchen Zhang, Hongsheng Li +7
Vision-Language Models (VLMs), leveraging their powerful visual perception and reasoning capabilities, have been widely applied in Unmanned Aerial Vehicle (UAV) tasks. However, the…
RoboAfford++: A Generative AI-Enhanced Dataset for Multimodal Affordance Learning in Robotic Manipulation and Navigation
Xiaoshuai Hao, Yingbo Tang, Lingfeng Zhang +6
Robotic manipulation and navigation are fundamental capabilities of embodied intelligence, enabling effective robot interactions with the physical world. Achieving these capabiliti…
Learning to Navigate Socially Through Proactive Risk Perception
Erjia Xiao, Lingfeng Zhang, Yingbo Tang +7
In this report, we describe the technical details of our submission to the IROS 2025 RoboSense Challenge Social Navigation Track. This track focuses on developing RGBD-based percep…
Team Xiaomi EV-AD VLA: Caption-Guided Retrieval System for Cross-Modal Drone Navigation -- Technical Report for IROS 2025 RoboSense Challenge Track 4
Lingfeng Zhang, Erjia Xiao, Yuchen Zhang +7
Cross-modal drone navigation remains a challenging task in robotics, requiring efficient retrieval of relevant images from large-scale databases based on natural language descripti…
MiMo-Embodied: X-Embodied Foundation Model Technical Report
Xiaoshuai Hao, Lei Zhou, Zhijian Huang +41
We open-source MiMo-Embodied, the first cross-embodied foundation model to successfully integrate and achieve state-of-the-art performance in both Autonomous Driving and Embodied A…
: Understanding Any Instruction, Navigating Anywhere, Finding Anything
Lingfeng Zhang, Xiaoshuai Hao, Yingbo Tang +6
Embodied navigation is a fundamental capability of embodied intelligence, enabling robots to move and interact within physical environments. However, existing navigation tasks prim…