4 papers
JoyAI-Sim: A Simulation-Enabled Interconversion Toolchain for the Embodied Data Pyramid
Peidong Liu, Yongce Liu, Songyan Guo +34
Generalist robot policies require trustworthy evaluation and robot-usable training data, but both are difficult to scale with physical robots alone. Real-robot trials and demonstra…
EgoLive: A Large-Scale Egocentric Dataset from Real-World Human Tasks
Yihang Li, Xuelong Wei, Jingzhou Luo +26
The advancement of robot learning is currently hindered by the scarcity of large-scale, high-quality datasets. While established data collection methods such as teleoperation and u…
Beyond Viewpoint Generalization: What Multi-View Demonstrations Offer and How to Synthesize Them for Robot Manipulation?
Boyang Cai, Qiwei Liang, Jiawei Li +11
Does multi-view demonstration truly improve robot manipulation, or merely enhance cross-view robustness? We present a systematic study quantifying the performance gains, scaling be…
CarPlanner: Consistent Auto-regressive Trajectory Planning for Large-scale Reinforcement Learning in Autonomous Driving
Dongkun Zhang, Jiaming Liang, Ke Guo +5
Trajectory planning is vital for autonomous driving, ensuring safe and efficient navigation in complex environments. While recent learning-based methods, particularly reinforcement…