11 papers
SceneFactory-3D: Lifting 2D Traffic Scenes into 3D Physical Counterfactuals for Scalable Physically Grounded Safety Evaluation
Yicheng Zhu, Linfeng Tian, Tianmu Zhao +4
Scalable driving simulators typically execute vehicle commands using prescribed behavioral or kinematic rules, overlooking the physics of tire-road interfaces, thereby limiting the…
TerrainForge: Physics-Grounded Road Geometry Editing for Counterfactual Autonomous Driving
Yang Chen, Yicheng Zhu, zhenning Li +2
Road geometry (e.g., crests, sags, and speed humps) and surface conditions (e.g., wet or icy pavement) affect how vehicles move, what drivers and onboard cameras observe, and how m…
SIREN-Bench: Behavior-Driven Generation and Evaluation of Emergency-Vehicle Interactions
Yicheng Zhu, Tianmu Zhao, Haoxin Leng +3
Emergency vehicles (EMVs) can reorganize surrounding traffic as civilian vehicles brake, change lanes, or form rescue corridors in response to their passage. Evaluating these safet…
muSync-GS: Physics-Synchronized Driving Video Synthesis for Weather and Geometric Road Hazards
Yang Chen, Yicheng Zhu, Tao Li +1
High-quality driving data are essential for autonomous-driving systems and generative world models. However, rare and safety-critical scenarios involving adverse weather, braking u…
ActiveMimic: Egocentric Video Pretraining with Active Perception
Xingyao Lin, Guojin Zhong, Tianyi Lu +4
Egocentric human video offers a scalable alternative to robot data for pretraining, yet models pretrained on such video consistently underperform those pretrained on robot data. We…
OpenEAI-Platform: An Open-source Embodied Artificial Intelligence Hardware-Software Unified Platform
Jinyuan Zhang, Luoyi Fan, Leiyu Wang +4
Embodied AI in the real world requires both accurate hardware and robust vision-language-action (VLA) policies. We present OpenEAI-Platform, a fully open-source platform that integ…
SceneFactory: GPU-Accelerated Multi-Agent Driving Simulation with Physics-Based Vehicle Dynamics
Yicheng Zhu, Yang Chen, Tao Li +1
Autonomous-driving simulators typically trade physical fidelity for scalable parallelism. Physics-based platforms such as CARLA and MetaDrive provide articulated vehicle dynamics a…
Hi-WM: Human-in-the-World-Model for Scalable Robot Post-Training
Yaxuan Li, Zhongyi Zhou, Yefei Chen +5
Post-training is essential for turning pretrained generalist robot policies into reliable task-specific controllers, but existing human-in-the-loop pipelines remain tied to physica…
dWorldEval: Scalable Robotic Policy Evaluation via Discrete Diffusion World Model
Yaxuan Li, Zhongyi Zhou, Yefei Chen +2
Evaluating robotics policies across thousands of environments and thousands of tasks is infeasible with existing approaches. This motivates the need for a new methodology for scala…
HumanoidExo: Scalable Whole-Body Humanoid Manipulation via Wearable Exoskeleton
Rui Zhong, Yizhe Sun, Junjie Wen +7
A significant bottleneck in humanoid policy learning is the acquisition of large-scale, diverse datasets, as collecting reliable real-world data remains both difficult and cost-pro…
ActiveUMI: Robotic Manipulation with Active Perception from Robot-Free Human Demonstrations
Qiyuan Zeng, Chengmeng Li, Jude St. John +5
We present ActiveUMI, a framework for a data collection system that transfers in-the-wild human demonstrations to robots capable of complex bimanual manipulation. ActiveUMI couples…