8 papers
RoboSynChallenge: Mastering Real-World Dexterity via Generalizing Synthesized Manipulation Skills
Runyi Zhao, Ruixin Wu, Chengkun Li +15
Achieving generalizable robotic manipulation remains a central challenge in embodied intelligence. Despite rapid advances in model architectures and learning algorithms, progress i…
Backpropagating Through Simulation: Analytic Policy Gradients for Sample and Learning Efficient Differentiable Continuous Control
Yueci Deng
Model-free reinforcement learning algorithms such as Proximal Policy Optimization (PPO) treat the environment as a black box, estimating policy gradients from sampled rewards; this…
From Reaction to Anticipation: Proactive Failure Recovery through Agentic Task Graph for Robotic Manipulation
Sheng Xu, Ruixing Jin, Huayi Zhou +6
Although robotic manipulation has made significant progress, reliable execution remains challenging because task failures are inevitable in dynamic and unstructured environments. T…
Adaptive TD-Lambda for Cooperative Multi-agent Reinforcement Learning
Yue Deng, Zirui Wang, Yin Zhang
TD() in value-based MARL algorithms or the Temporal Difference critic learning in Actor-Critic-based (AC-based) algorithms synergistically integrate elements from Monte-Carlo si…
DexWorldModel: Causal Latent World Modeling towards Automated Learning of Embodied Tasks
Yueci Deng, Guiliang Liu, Kui Jia
Deploying generative World-Action Models for manipulation is severely bottlenecked by redundant pixel-level reconstruction, memory scaling, and sequential inferenc…
EVA: Aligning Video World Models with Executable Robot Actions via Inverse Dynamics Rewards
Ruixiang Wang, Qingming Liu, Yueci Deng +3
Video generative models offer a promising basis for robotic planning by predicting future visual rollouts from observations and task instructions. However, their training objective…
PAct: Part-Decomposed Single-View Articulated Object Generation
Qingming Liu, Xinyue Yao, Shuyuan Zhang +4
Articulated objects are central to interactive 3D applications, including embodied AI, robotics, and VR/AR, where functional part decomposition and kinematic motion are essential.…
You Only Teach Once: Learn One-Shot Bimanual Robotic Manipulation from Video Demonstrations
Huayi Zhou, Ruixiang Wang, Yunxin Tai +3
Bimanual robotic manipulation is a long-standing challenge of embodied intelligence due to its characteristics of dual-arm spatial-temporal coordination and high-dimensional action…