8 papers · 1 filter
EgoJEPA: Beyond Retargeting for Dexterous Manipulation from Egocentric Videos
Meng Cao, Can Zhao, Jinjie Wei +12
Egocentric human videos offer a scalable alternative to costly robot demonstra- tions, yet transferring their manipulation priors to robot control remains chal- lenging. The common…
GaussianWAM: Distilling Geometry and Semantics from 3D Gaussian Fields into World-Action Models
Zijian Zhang, Yuqing Jiang, Weitao Zhou +6
World-Action Models (WAMs) jointly learn future visual prediction and action generation, using video dynamics as a representation-learning signal for robotic manipulation. However,…
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…
SoftVTBench: A Deformation-Aware Visuo-Tactile Dataset and Benchmark for Deformable-Object Manipulation
Bowen Jing, Mingxin Wang, Ruiyang Hao +15
Physical interaction quality is central to deformable-object manipulation, yet most benchmarks evaluate task success alone. A policy may complete the task while allowing slip or ca…
SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects (Early Version)
Bowen Jing, Mingxin Wang, Ruiyang Hao +15
Deformable object manipulation poses challenges beyond task completion: successful execution must also maintain safe physical interaction, holding the object stably without slip or…
RoboDojo: A Unified Sim-and-Real Benchmark for Comprehensive Evaluation of Generalist Robot Manipulation Policies
Tianxing Chen, Yue Chen, Zixuan Li +41
Generalist robot manipulation policies have advanced rapidly, yet existing benchmarks remain limited in systematically evaluating their capabilities. Many rely on simple, short-hor…
UniLab: A Heterogeneous Architecture for Robot RL Beyond GPU-Dominant Paradigms
Yufei Jia, Zhanxiang Cao, Mingrui Yu +48
Simulation-based RL for contemporary robot control is increasingly organized around GPU-resident simulation: physics, rollout collection, and learning are placed on a single GPU-ce…
GaussianDream: A Feed-Forward 3D Gaussian World Model for Robotic Manipulation
Zijian Zhang, Yuqing Jiang, Qian Cheng +6
Vision-language-action (VLA) policies have advanced language-conditioned robotic manipulation by transferring semantic priors from pretrained vision-language models to action gener…