10 papers · 1 filter
ForkCast: Predictive Recovery for Vision-Language-Action Policies via Counterfactual Futures
Chenru Wen, Huajian Zeng, Haokai Ding +5
Vision-language-action (VLA) policies perform manipulation tasks using camera images and language instructions, but object slip or visual occlusion can disrupt execution. Recovery…
Exo2EgoHOI: Hand-Object-Interaction Aware Exocentric-to-Egocentric Video Generation
Hongjia Zhai, Xiyu Zhang, Haoran Zhang +5
Egocentric videos of human manipulation provide valuable visual experience for embodied intelligence, yet collecting such data at scale is costly. Exocentric-to-egocentric video ge…
The Robot Data Factory
Sami Haddadin, Ivan Laptev, Ian Reid +18
Physical AI requires more than increasingly large robot datasets: intelligent robots acquire knowledge through continuous interaction with the physical world. We argue that the def…
SURE-Map: Self-Correcting Streaming Geometric Foundation Models
Mingkai Liu, Hao Zhao, Xingxing Zuo
Streaming geometric foundation models are emerging as a compelling alternative to SLAM systems. Yet this streaming nature introduces a fundamental issue: each prediction is made fr…
World-Action Models for Robot Learning and Control: A Survey
Zuxing Lu, Hongjia Zhai, Guanzhi Wang +13
Robots operating in open environments act under partial observability, physical constraints, and dynamic task contexts. Beyond mapping observations and language instructions to act…
MAC-I: Learned Metrics-Aware Covariance for Robust Visual-Inertial Fusion in Initialization and Calibration
Xiang Fei, Yuheng Qiu, Can Xu +5
Visual-Inertial (VI) fusion is fundamental to accurate and robust state estimation, where camera and IMU measurements are combined according to their respective uncertainties. Exis…
LooperMuscle: Fast and Stable Learning of Humanoid Whole-Body Tracking via Structured Mixture-of-Experts
Boyi Liu, Qijin Li, Tianqi Yu +2
FastSAC-style methods significantly reduce humanoid motion training time but often suffer from notable performance degradation compared with PPO in whole-body tracking tasks. We ta…
M3imic: Learning a Versatile Whole-Body Controller for Multimodal Motion Mimicking
Zuxing Lu, Ziang Zheng, Yao Lyu +7
Building a general-purpose whole-body controller is essential for enabling diverse motion capabilities in humanoid robots across a wide range of downstream tasks, including locomot…
VAG: Dual-Stream Video-Action Generation for Embodied Data Synthesis
Xiaolei Lang, Yang Wang, Yukun Zhou +10
Recent advances in robot foundation models trained on large-scale human teleoperation data have enabled robots to perform increasingly complex real-world tasks. However, scaling th…
EgoFlow: Gradient-Guided Flow Matching for Egocentric 6DoF Object Motion Generation
Abhishek Saroha, Huajian Zeng, Xingxing Zuo +2
Understanding and predicting object motion from egocentric video is fundamental to embodied perception and interaction. However, generating physically consistent 6DoF trajectories…