13 papers
XPolicyLab: A Unified Standard and Open Ecosystem for Robot Policy Evaluation and Deployment
XPolicyLab Community, Tianxing Chen, Yue Chen +67
Robot policy evaluation and deployment remain fragmented by model-specific software dependencies, data representations, and runtime interfaces, so that connecting N policies to M e…
Dream2Reward: Transition-Alignment Reward Models from Positive Demonstrations for Robotic Manipulation
Haoyu Zhang, Zecui Zeng, Bin Wang +3
Learning robotic policies requires dense rewards that remain informative when behavior departs from successful demonstrations. Progress-based rewards estimate how far an observatio…
G0.5: One Autoregressive Stream for Robot Reasoning and Action
Yicheng Liu, Zibin Dong, Baijun Ye +24
The prevailing recipe for Vision-Language-Action (VLA) models couples a pretrained VLM with a separately trained flow-matching action expert. This makes the VLM a context encoder r…
A Causality-aware Infer-diagnose-refine Framework for Test-time Modality Adaptation in VLA Models
Haoyu Zhang, Yuwei Wu, Jin Chen +6
Vision-language-action (VLA) models predict sequential actions to execute tasks specified by language instructions, conditioned on visual observations and proprioceptive states. Ho…
Agents' Last Exam
Yiyou Sun, Xinyang Han, Weichen Zhang +378
Recent AI systems have achieved strong results on a wide range of benchmarks, yet these gains have not translated into economically meaningful deployment across many professional d…
BridgeACT: Bridging Human Demonstrations to Robot Actions via Unified Tool-Target Affordances
Yifan Han, Jianxiang Liu, Haoyu Zhang +3
Learning robot manipulation from human videos is appealing due to the scale and diversity of human demonstrations, but transferring such demonstrations to executable robot behavior…
Facial Expression Generation Aligned with Human Preference for Natural Dyadic Interaction
Xu Chen, Rui Gao, Xinjie Zhang +5
Achieving natural dyadic interaction requires generating facial expressions that are emotionally appropriate and socially aligned with human preference. Human feedback offers a com…
Bridging Modality Disconnect in Self-Reflection via Closed-Loop Visually Grounded Verification
Haoyu Zhang, Yuwei Wu, Pengxiang Li +6
In the era of Vision-Language Models (VLMs), enhancing multimodal reasoning capabilities remains a critical challenge, particularly in handling ambiguous or complex visual inputs,…
SHARE: Sharing Human Actions across Robot Embodiments through Unified Retargeting and Tracking
Haoyu Zhang, Junzhe Xu, Shibo Jin +8
The central challenge in reusing human actions across robots is the need to realize shared intent through incompatible kinematics, dynamics, and control interfaces. We present SHAR…
Boosting Action-Information via a Variational Bottleneck on Unlabelled Robot Videos
Haoyu Zhang, Long Cheng
Learning from demonstrations (LfD) typically relies on large amounts of action-labeled expert trajectories, which fundamentally constrains the scale of available training data. A p…
Depth-PC: A Visual Servo Framework Integrated with Cross-Modality Fusion for Sim2Real Transfer
Haoyu Zhang, Yang Liu, Yimu Jiang +2
Visual servoing techniques guide robotic motion using visual information to accomplish manipulation tasks, requiring high precision and robustness against noise. Traditional method…
Enhanced Prediction of Multi-Agent Trajectories via Control Inference and State-Space Dynamics
Yu Zhang, Yongxiang Zou, Haoyu Zhang +3
In the field of autonomous systems, accurately predicting the trajectories of nearby vehicles and pedestrians is crucial for ensuring both safety and operational efficiency. This p…
Stabilizing Dynamic Systems through Neural Network Learning: A Robust Approach
Yu Zhang, Haoyu Zhang, Yongxiang Zou +2
Point-to-point and periodic motions are ubiquitous in the world of robotics. To master these motions, Autonomous Dynamic System (DS) based algorithms are fundamental in the domain…