18 papers
iGPC: Generative Motion Priors for Object-Aware Humanoid Interaction
Anujith Muraleedharan, Abdul Ahad Butt, Nolan Fey +5
Humanoid robots operating in unstructured environments must combine robust whole-body control with the ability to perceive and physically interact with surrounding objects. While l…
Streaming Multi-Track Timeline Control for 3D Human Motion Generation
Yangsong Zhang, Anujith Muraleedharan, Rikhat Akizhanov +3
Text-driven human motion generation has advanced substantially, yet most methods assume instructions are available before synthesis. Interactive applications require responding to…
Taming VLAs under Robot Execution Errors: Self-Compensation and Stress Testing
Sohyun Lee, Yoonjae Baek, Jaesang Won +5
Vision-language-action (VLA) policies often fail when a robot's executed motion deviates from their commanded action. Such execution errors arise from the robot's mechanics and ope…
The Robot Data Factory
Sami Haddadin, Ivan Laptev, Ian Reid +18
Physical AI requires more than increasingly large robot datasets: intelligent robots acquire knowledge through continuous interaction with the physical world. We argue that the def…
World-Action Models for Robot Learning and Control: A Survey
Zuxing Lu, Hongjia Zhai, Guanzhi Wang +13
Robots operating in open environments act under partial observability, physical constraints, and dynamic task contexts. Beyond mapping observations and language instructions to act…
GEOPHYS: The Geometry of Physical Plausibility
Christian Internò, Alexander Pondaven, Habon Issa +8
While humans can identify physically implausible events within milliseconds, machine learning approaches addressing the same problem are extremely slow and expensive. They either r…
ActCam: Zero-Shot Joint Camera and 3D Motion Control for Video Generation
Omar El Khalifi, Thomas Rossi, Oscar Fossey +6
For artistic applications, video generation requires fine-grained control over both performance and cinematography, i.e., the actor's motion and the camera trajectory. We present A…
LongCoT: Benchmarking Long-Horizon Chain-of-Thought Reasoning
Sumeet Ramesh Motwani, Daniel Nichols, Charles London +17
As language models are increasingly deployed for complex autonomous tasks, their ability to reason accurately over longer horizons becomes critical. An essential component of this…
A1: A Fully Transparent Open-Source, Adaptive and Efficient Truncated Vision-Language-Action Model
Kaidong Zhang, Jian Zhang, Rongtao Xu +20
Vision-Language-Action (VLA) models have emerged as a powerful paradigm for open-world robot manipulation, but their practical deployment is often constrained by cost: billion-scal…
MessyKitchens: Contact-rich object-level 3D scene reconstruction
Junaid Ahmed Ansari, Ran Ding, Fabio Pizzati +1
Monocular 3D scene reconstruction has recently seen significant progress. Powered by the modern neural architectures and large-scale data, recent methods achieve high performance i…
PhysMoDPO: Physically-Plausible Humanoid Motion with Preference Optimization
Yangsong Zhang, Anujith Muraleedharan, Rikhat Akizhanov +5
Recent progress in text-conditioned human motion generation has been largely driven by diffusion models trained on large-scale human motion data. Building on this progress, recent…
ManipArena: Comprehensive Real-world Evaluation of Reasoning-Oriented Generalist Robot Manipulation
Yu Sun, Meng Cao, Yang Ping +24
Vision-Language-Action (VLA) models and world-action models have emerged as central paradigms for general-purpose robotic intelligence, yet their empirical progress remains constra…
Foundation and Small Models Coordination for Visuomotor Policy Learning
Haoran Ding, Liang Ma, Yaxun Yang +7
Visuomotor policy learning enables robots to perform a wide range of tasks, but small policy models often remain sensitive to changes in object and background appearance. In this w…
BLAZER: Bootstrapping LLM-based Manipulation Agents with Zero-Shot Data Generation
Rocktim Jyoti Das, Harsh Singh, Diana Turmakhan +5
Scaling data and models has played a pivotal role in the remarkable progress of computer vision and language. Inspired by these domains, recent efforts in robotics have similarly f…
LikePhys: Evaluating Intuitive Physics Understanding in Video Diffusion Models via Likelihood Preference
Jianhao Yuan, Fabio Pizzati, Francesco Pinto +5
Intuitive physics understanding in video diffusion models plays an essential role in building general-purpose physically plausible world simulators, yet accurately evaluating such…
Learning to Generate Rigid Body Interactions with Video Diffusion Models
David Romero, Ariana Bermudez, Viacheslav Iablochnikov +3
Recent video generation models have achieved remarkable progress and are now deployed in film, social media production, and advertising. Beyond their creative potential, such model…
InterPose: Learning to Generate Human-Object Interactions from Large-Scale Web Videos
Yangsong Zhang, Abdul Ahad Butt, Gül Varol +1
Human motion generation has shown great advances thanks to the recent diffusion models trained on large-scale motion capture data. Most of existing works, however, currently target…
Towards Reliable Identification of Diffusion-based Image Manipulations
Alex Costanzino, Woody Bayliss, Juil Sock +5
Changing facial expressions, gestures, or background details may dramatically alter the meaning conveyed by an image. Notably, recent advances in diffusion models greatly improve t…