7 papers · 1 filter
Demo-JEPA: Joint-Embedding Predictive Architecture for One-shot Cross-Embodiment Imitation
Jingyang He, Guangrun Li, Jieyu Zhang +3
Robotic imitation learning is often treated as reproducing demonstrated actions, but actions are inherently embodiment-specific. When demonstrations come from humans or robots with…
HEX: Humanoid-Aligned Experts for Cross-Embodiment Whole-Body Manipulation
Shuanghao Bai, Meng Li, Xinyuan Lv +15
Humans achieve complex manipulation through coordinated whole-body control, whereas most Vision-Language-Action (VLA) models treat robot body parts largely independently, making hi…
Dexora: Open-source VLA for High-DoF Bimanual Dexterity
Zongzheng Zhang, Jingrui Pang, Zhuo Yang +22
Vision-Language-Action (VLA) models have recently become a central direction in embodied AI, but current systems are restricted to either dual-gripper control or single-arm dextero…
HarmoWAM: Harmonizing Generalizable and Precise Manipulation via Adaptive World Action Models
Qiuxuan Feng, Jiale Yu, Jiaming Liu +8
World Action Models (WAMs) have emerged as a promising paradigm for robot control by modeling physical dynamics. Current WAMs generally follow two paradigms: the "Imagine-then-Exec…
VEGA: Visual Encoder Grounding Alignment for Spatially-Aware Vision-Language-Action Models
Hao Wang, Xiaobao Wei, Jingyang He +10
Precise spatial reasoning is fundamental to robotic manipulation, yet the visual backbones of current vision-language-action (VLA) models are predominantly pretrained on 2D image d…
URDF-Anything+: End-to-End Generation for Simulation-Ready Articulated Assets
Zhuangzhe Wu, Yue Xin, Chengkai Hou +4
Articulated objects are fundamental for robotics, simulation of physics, and interactive virtual environments. However, recovering them from visual observations is inherently chall…
URDF-Anything: Constructing Articulated Objects with 3D Multimodal Language Model
Zhe Li, Xiang Bai, Jieyu Zhang +5
Constructing accurate digital twins of articulated objects is essential for robotic simulation training and embodied AI world model building, yet historically requires painstaking…