6 papers · 1 filter
I2O2I-Nav: A Benchmark with a Modular Agent for Long-Horizon Indoor-to-Outdoor-to-Indoor Navigation
Zhengjie Shu, Wanyu Li, Di Xiao +11
Service and delivery robots often need to complete long-horizon navigation missions spanning indoor and outdoor environments. Existing embodied navigation benchmarks primarily eval…
Video2DoorTraversal: Push Door Traversal via Simulated Door Twins
Xincheng Tang, Yiji Chen, Youhan Xie +8
Door opening and traversal is a long-horizon loco-manipulation task that requires precise handle interaction and coordinated base-arm control. We present Video2DoorTraversal, a sin…
StairMaster: Learning to Conquer Risky Hollow Stairs for Agile Quadrupedal Robots
Xincheng Tang, Youhan Xie, Zhengjie Shu +5
Climbing hollow stairs remains a challenging problem for quadruped robots due to the high risk of leg trapping, severe depth sparsity, and high-frequency depth-sensing noise. In th…
ACCORD: Action-Conditioned Contextual Grounding for Language Agents
Lai Jiang, Cheng Qian, Zhenhailong Wang +3
User instructions are often underspecified because humans rely on implicit assumptions about the surrounding environment. For large language model (LLM) agents operating in informa…
SimWeaver: Zero-Shot RGB Sim-to-Real for Deformable Manipulation
Wenkang Hu, Haoran Wang, Yitong Li +10
RGB sim-to-real for deformable manipulation has remained largely unsolved without real-world fine-tuning. We present SimWeaver, which trains zero-shot RGB VLA policies on 200 simul…
Awakening the Sleeping Agent: Lean-Specific Agentic Data Reactivates General Tool Use in Goedel Prover
Jui-Hui Chung, Hongzhou Lin, Lai Jiang +2
Heavy supervised fine-tuning on a target domain can strongly suppress capabilities that were present in the base model. We study this phenomenon in formal mathematics using Goedel-…