14 papers
X2Real: an eXtensive simulation benchmark for real-world generalist policies
Lian Ruan, Jade Yang, Sherphylan Gao +23
Generalist robot manipulation policies have developed rapidly, yet their reliable evaluation remains challenging due to fundamental flaws in existing simulation benchmarks: promine…
X-Planner: Event-Structured Task Planning for Embodied Intelligence
Howard Lu, Shalfun Li, Porter Pan +30
Task planning bridges high-level instructions and executable behavior in long-horizon manipulation, yet modern Vision-Language-Action (VLA) systems often leave this intermediate st…
X2-NativeCursor: Native-Token Text Progress Tracking for Incremental-Text Streaming Codec TTS
Zehan Liu, Carl Chen, Rime Wen +7
Incremental-text streaming text-to-speech (TTS) needs online text progress tracking for synchronized highlighting, interruption handling, and dialogue-history updates. Input text a…
X2Streaming-ASR: wait when uncertain, emit when ready for streaming ASR
Zhiwei Lin, Kaiqi Fu, Rime Wen +5
Streaming automatic speech recognition (ASR) for real-time voice agents and full-duplex dialogue must provide accurate partial transcripts with low commit latency. Existing systems…
X2-Turn: Frame-Synchronous Dual-Head Modeling for Joint Streaming ASR and Turn State Prediction
Kaiqi Fu, Rime Wen, Altman Lin +4
Accurate and responsive turn-taking is essential for spoken dialogue systems, which must distinguish in real time between user interruptions, backchannels that should be ignored, a…
WALL-SS: Scaling Long-horizon World Models via Next-Scale Autoregression
Maeve Zhang, Rain Sun, Xiang Wang +22
Generative world models provide robots with predictive models of how the world evolves under interaction, with growing potential for simulation, planning, policy evaluation, and ro…
HOST:Robots Acquire Manipulation Skills in Seconds from a Single Human Video
Guangyan Chen, Meiling Wang, Te Cui +9
The ability to acquire skills rapidly and effortlessly while retaining those already mastered is essential for robots. However, current methods still rely on a cumbersome training-…
X2Streaming-TTS: Causal Token-Level Text-to-Speech from Streaming Text with Speech-State Inheritance
Rime Wen, Zehan Liu, Shawn Qin +4
Streaming text-to-speech is essential for low-latency spoken dialogue systems, yet many systems wait for sentence-level text and are therefore only pseudo-streaming. True token-lev…
X-Tokenizer: A Multimodal Action Tokenizer for Vision-Language-Action Pretraining
Miracle Kang, Lights Shi, Lucy Liang +10
Modern Vision-Language-Action (VLA) models must bridge pretrained vision-language reasoning and precise continuous robot control. Existing action tokenizers discretize actions prim…
DMuon: Efficient Distributed Muon Training with Near-Adam Overhead
Vincent Chen, Starrick Liu, Regis Cheng +8
Matrix-orthogonalization-based optimizers, exemplified by Muon, have demonstrated strong convergence behavior across a wide range of modern deep learning workloads. The matrix-awar…
WALL-WM: Carving World Action Modeling at the Event Joints
Shalfun Li, Victor Yao, Charles Yang +29
WALL-WM is a World Action Model that shifts video-action learning from chunk-centric optimization to event-grounded Vision-Language-Action pretraining, using semantically coherent…
Wall-OSS-0.5 Technical Report
Ryan Yu, Pushi Zhang, Starrick Liu +24
Large-scale Vision-Language-Action (VLA) pretraining is increasingly adopted as the foundation for robot policies, yet the evidence for pretrained VLAs is almost invariably reporte…
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…
Igniting VLMs toward the Embodied Space
Andy Zhai, Brae Liu, Bruno Fang +17
While foundation models show remarkable progress in language and vision, existing vision-language models (VLMs) still have limited spatial and embodiment understanding. Transferrin…