From the 1 of 17 linked papers with an AI index.
17 papers
GAUGE: A Measurement-Grounded Benchmark for Physical Fidelity in Simulation Engines and Video World Models
Shuai Wang, Yaxin Feng, Xuekun Jiang +12
Physics engines facilitate large-scale training and evaluation for embodied intelligence, while generative video world models are emerging as implicit simulators of future states a…
KAI: A Kinematic-Aware Interface for Data-Efficient Articulated Object Manipulation
Yaping Li, Zhaxizhuoma, Qiaojun Yu +3
Articulated object manipulation requires an understanding of kinematic structure that is difficult and costly to learn from robot demonstrations alone. We introduce the Kinematic-A…
Scaling Behavior Foundation Model for Humanoid Robots
Weishuai Zeng, Kangning Yin, Xiaojie Niu +15
The paper proposes a scalable behavior foundation model for humanoid robots that uses a motion‑tracking learning paradigm, coordinated on‑policy rollouts and diverse reference moti…
EBench: Elemental Diagnosis of Generalist Mobile Manipulation Policies
Ning Gao, Jinliang Zheng, Xing Gao +22
We present EBench, a simulation benchmark that diagnoses generalist mobile manipulation policies beyond a single success-rate scalar. EBench comprises 26 diverse and challenging ma…
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…
Scalable and General Whole-Body Control for Cross-Humanoid Locomotion
Yufei Xue, YunFeng Lin, Wentao Dong +6
Learning-based whole-body controllers have become a key driver for humanoid robots, yet most existing approaches require robot-specific training. In this paper, we study the proble…