12 papers · 1 filter
LIBERO-Agent: Evaluating General-Purpose Agents for Direct Embodied Manipulation
Zijie Diao, Yitong Chen, Sicheng Xie +7
General-purpose agents can plan, use tools, and revise their behavior from feedback, but it remains unclear whether these capabilities transfer from digital environments to embodie…
Bench2Dex: Benchmarking Visuo-Tactile Bimanual Dexterous Manipulation Across Dexterous Hands
Zhenjie Yang, Yideng Zhang, Dongjie Zhang +21
Tactile sensing provides contact information that can be difficult to infer from vision alone, but tactile hardware for dexterous hands has not converged to a common design. Dexter…
Large Discrete Policy: Advancing Explicit Behavior Modeling with Stochastic Iterative Scoring
Zhenxin Li, Nadine Chang, Xinglong Sun +8
Behavior policies are often formulated as continuous generative models, whose iterative denoising processes are expressive but difficult to interpret and prone to producing implaus…
ETA: A New Agentic Paradigm for Embodied Tasks
Yitong Chen, Zezheng Huai, Sixian Li +7
When will robots have their ChatGPT moment? Such a breakthrough requires a general-purpose robot that can handle unfamiliar tasks in unfamiliar environments, remain controllable ov…
EgoRecovery: Acquiring Failure Recovery Ability Through Human Recovery Demonstration
Zuhao Ge, Yuchen Zhou, Weitao Zhou +8
Robust embodied robots should be able to recover from failures and retry tasks in order to operate reliably in unstructured and noisy real-world environments. Achieving this capabi…
Seeing Touch from Motion: A Unified Modality-Aware Visuo-Tactile Policy with Tactile Motion Correlation
Shengqi Xu, Guojin Zhong, Yang Liu +7
Visuo-Tactile policies leveraging optical tactile sensors have shown great promise in contact-rich manipulation. These sensors achieve high spatial resolution and multi-dimensional…
Advancing Omnimodal Embodied Agents from Isolated Skills to Everyday Physical Autonomy
Junhao Shi, Zezheng Huai, Siyin Wang +7
Building persistent embodied agents in unstructured environments demands unified orchestration of heterogeneous tools spanning both cyber (APIs, IoT) and physical (manipulation, na…
ThinkingVLA: Interleaved Vision and Language Reasoning for Robotic Manipulation
Tianyi Lu, Hui Zhang, Zijie Diao +8
Most Vision-Language-Action (VLA) models map observations directly to actions without explicit reasoning, limiting their capacity for reasoning-intensive long-horizon tasks. To add…
UniDexTok: A Unified Dexterous Hand Tokenizer from Real Data
Dong Fang, Youjun Wu, Yuanxin Zhong +4
Dexterous hands are essential for fine-grained manipulation, but their hardware designs vary substantially across embodiments. Differences in kinematics, joint definitions, and deg…
Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data
Linqi Yin, Shiduo Zhang, Shenling Qiu +11
Vision-language models (VLMs) are powerful general-purpose reasoners, yet converting them into robot control policies (VLAs) is surprisingly difficult. The root cause is a two-fold…
Coarse-to-Control: Action-Token Planning for Vision-Language-Action Models
Jinhao Wu, Shiduo Zhang, Yicheng Liu +9
Most vision-language-action (VLA) models map observations directly to actions without explicit intermediate planning, which limits performance on long-horizon tasks where early mis…
Afford-VLA: Action-Aligned Visual Planning via Internalized Affordance
Runze Wang, Yuqian Fu, Yu Li +7
Vision-language-action (VLA) models have shown strong potential for generalist robot manipulation, yet they remain limited by insufficient spatial reasoning, particularly in determ…