10 papers · 1 filter
EVA: Aligning Video World Models with Executable Robot Actions via Inverse Dynamics Rewards
Ruixiang Wang, Qingming Liu, Yueci Deng +3
Video generative models offer a promising basis for robotic planning by predicting future visual rollouts from observations and task instructions. However, their training objective…
CycleManip: Enabling Cyclic Task Manipulation via Effective Historical Perception and Understanding
Yi-Lin Wei, Haoran Liao, Yuhao Lin +4
In this paper, we explore an important yet underexplored task in robot manipulation: cycle-based manipulation, where robots need to perform cyclic or repetitive actions with an exp…
Toward Humanoid Brain-Body Co-design: Joint Optimization of Control and Morphology for Fall Recovery
Bo Yue, Sheng Xu, Kui Jia +1
Humanoid robots represent a central frontier in embodied intelligence, as their anthropomorphic form enables natural deployment in humans' workspace. Brain-body co-design for human…
Toward Physical Recursive Self-Improvement: A Call for Body-Control Co-Design for Humanoid Robot
Guiliang Liu, Bo Yue, Yi Jin Kim +1
Humanoid robots, as general-purpose physical agents, must integrate both intelligent control and adaptive morphology to operate effectively in diverse real-world environments. Whil…
Real-Time Verification of Embodied Reasoning for Generative Skill Acquisition
Bo Yue, Shuqi Guo, Kaiyu Hu +4
Generative skill acquisition enables embodied agents to actively learn a scalable and evolving repertoire of control skills, crucial for the advancement of large decision models. W…
SignBot: Learning Human-to-Humanoid Sign Language Interaction
Guanren Qiao, Sixu Lin, Ronglai Zuo +3
Sign language is a natural and visual form of language that uses movements and expressions to convey meaning, serving as a crucial means of communication for individuals who are de…
Prof. Robot: Differentiable Robot Rendering Without Static and Self-Collisions
Quanyuan Ruan, Jiabao Lei, Wenhao Yuan +4
Differentiable rendering has gained significant attention in the field of robotics, with differentiable robot rendering emerging as an effective paradigm for learning robotic actio…
GAT-Grasp: Gesture-Driven Affordance Transfer for Task-Aware Robotic Grasping
Ruixiang Wang, Huayi Zhou, Xinyue Yao +2
Achieving precise and generalizable grasping across diverse objects and environments is essential for intelligent and collaborative robotic systems. However, existing approaches of…
HWC-Loco: A Hierarchical Whole-Body Control Approach to Robust Humanoid Locomotion
Sixu Lin, Guanren Qiao, Yunxin Tai +3
Humanoid robots, capable of assuming human roles in various workplaces, have become essential to embodied intelligence. However, as robots with complex physical structures, learnin…
You Only Teach Once: Learn One-Shot Bimanual Robotic Manipulation from Video Demonstrations
Huayi Zhou, Ruixiang Wang, Yunxin Tai +3
Bimanual robotic manipulation is a long-standing challenge of embodied intelligence due to its characteristics of dual-arm spatial-temporal coordination and high-dimensional action…