3 papers
cs.RO2025
Towards Embodiment Scaling Laws in Robot Locomotion
Bo Ai, Liu Dai, Nico Bohlinger +7
Cross-embodiment generalization underpins the vision of building generalist embodied agents for any robot, yet its enabling factors remain poorly understood. We investigate embodim…
cs.AI2024
Fine-Tuning Large Vision-Language Models as Decision-Making Agents via Reinforcement Learning
Yuexiang Zhai, Hao Bai, Zipeng Lin +8
Large vision-language models (VLMs) fine-tuned on specialized visual instruction-following data have exhibited impressive language reasoning capabilities across various scenarios.…
cs.RO2024
FMB: a Functional Manipulation Benchmark for Generalizable Robotic Learning
Jianlan Luo, Charles Xu, Fangchen Liu +5
In this paper, we propose a real-world benchmark for studying robotic learning in the context of functional manipulation: a robot needs to accomplish complex long-horizon behaviors…