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Recova: Agent-Guided Failure Recovery for Autonomous Robotic Manipulation
Isabella Liu, An-Chieh Cheng, Johan Bjorck +6
Manipulation failures can leave scenes in states from which a task policy cannot recover. Learning corrective behaviors requires scalable failure exploration and physical grounding…
ASENA: Self-evolving Agents for Embodied Navigation
An-Chieh Cheng, Isabella Liu, Edmund Bu +7
We present ASENA, an embodied agent system that enables general-purpose coding agents to program humanoid navigation, manipulation, and interaction. Through a unified robot harness…
Vesta: A Generalist Embodied Reasoning Model
Johan Bjorck, Zhiqi Li, Yunze Man +29
Robots operating in open-world environments must seamlessly integrate localization, spatial reasoning, navigation, and long-horizon planning. While specialist models excel at indiv…
Long-Horizon Manipulation via Trace-Conditioned VLA Planning
Isabella Liu, An-Chieh Cheng, Rui Yan +7
Long-horizon manipulation remains challenging for vision-language-action (VLA) policies: real tasks are multi-step, progress-dependent, and brittle to compounding execution errors.…
EgoVLA: Learning Vision-Language-Action Models from Egocentric Human Videos
Ruihan Yang, Qinxi Yu, Yecheng Wu +12
Real robot data collection for imitation learning has led to significant advancements in robotic manipulation. However, the requirement for robot hardware in the process fundamenta…