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cs.RO2025
Scaling Cross-Embodiment World Models for Dexterous Manipulation
Zihao He, Bo Ai, Tongzhou Mu +6
Cross-embodiment learning seeks to build generalist robots that learn from and operate across diverse morphologies, but differences in kinematics and action spaces hinder data shar…
cs.RO2025
LodeStar: Long-horizon Dexterity via Synthetic Data Augmentation from Human Demonstrations
Weikang Wan, Jiawei Fu, Xiaodi Yuan +2
Developing robotic systems capable of robustly executing long-horizon manipulation tasks with human-level dexterity is challenging, as such tasks require both physical dexterity an…
cs.RO2025
ManiTaskGen: A Comprehensive Task Generator for Benchmarking and Improving Vision-Language Agents on Embodied Decision-Making
Liu Dai, Haina Wang, Weikang Wan +1
Building embodied agents capable of accomplishing arbitrary tasks is a core objective towards achieving embodied artificial general intelligence (E-AGI). While recent work has adva…