10 papers
MemoryWAM: Efficient World Action Modeling with Persistent Memory
Sizhe Yang, Juncheng Mu, Tianming Wei +8
Robust robotic manipulation in the real world requires not only an understanding of the current observation, but also memory and dynamics modeling. World action models (WAMs) posse…
Feel Robot Feels: Tactile Feedback Array Glove for Dexterous Manipulation
Feiyu Jia, Xiaojie Niu, Sizhe Yang +5
Teleoperation is a key approach for collecting high-quality, physically consistent demonstrations for robotic manipulation. However, teleoperation for dexterous manipulation remain…
One-Policy-Fits-All: Geometry-Aware Action Latents for Cross-Embodiment Manipulation
Juncheng Mu, Sizhe Yang, Hojin Bae +5
Cross-embodiment manipulation is crucial for enhancing the scalability of robot manipulation and reducing the high cost of data collection. However, the significant differences bet…
UltraDexGrasp: Learning Universal Dexterous Grasping for Bimanual Robots with Synthetic Data
Sizhe Yang, Yiman Xie, Zhixuan Liang +4
Grasping is a fundamental capability for robots to interact with the physical world. Humans, equipped with two hands, autonomously select appropriate grasp strategies based on the…
DexImit: Learning Bimanual Dexterous Manipulation from Monocular Human Videos
Juncheng Mu, Sizhe Yang, Yiming Bao +6
Data scarcity fundamentally limits the generalization of bimanual dexterous manipulation, as real-world data collection for dexterous hands is expensive and labor-intensive. Human…
Robo3R: Enhancing Robotic Manipulation with Accurate Feed-Forward 3D Reconstruction
Sizhe Yang, Linning Xu, Hao Li +4
3D spatial perception is fundamental to generalizable robotic manipulation, yet obtaining reliable, high-quality 3D geometry remains challenging. Depth sensors suffer from noise an…
MMSI-Bench: A Benchmark for Multi-Image Spatial Intelligence
Sihan Yang, Runsen Xu, Yiman Xie +10
Spatial intelligence is essential for multimodal large language models (MLLMs) operating in the complex physical world. Existing benchmarks, however, probe only single-image relati…
Novel Demonstration Generation with Gaussian Splatting Enables Robust One-Shot Manipulation
Sizhe Yang, Wenye Yu, Jia Zeng +5
Visuomotor policies learned from teleoperated demonstrations face challenges such as lengthy data collection, high costs, and limited data diversity. Existing approaches address th…
Predictive Inverse Dynamics Models are Scalable Learners for Robotic Manipulation
Yang Tian, Sizhe Yang, Jia Zeng +4
Current efforts to learn scalable policies in robotic manipulation primarily fall into two categories: one focuses on "action," which involves behavior cloning from extensive colle…
GRUtopia: Dream General Robots in a City at Scale
Hanqing Wang, Jiahe Chen, Wensi Huang +19
Recent works have been exploring the scaling laws in the field of Embodied AI. Given the prohibitive costs of collecting real-world data, we believe the Simulation-to-Real (Sim2Rea…