6 papers
SG-WAM: Self-Guided World Modeling in Geometry-Aware Policy Space
Ruiteng Zhao, Zhengshen Zhang, Yue Su +6
World Action Models (WAMs) couple action generation with prediction of future states. Their effectiveness depends on whether future dynamics are modeled in a space that is both ali…
Physics-Guided Biomechanical Gait Adaptation for Humanoid Locomotion on Extreme Sloped Terrains
Xuanyu Chen, Mohan Liu, Dengchen Mei +6
Model-free reinforcement learning has enabled impressive humanoid locomotion; however, control on steep slopes remains largely unexplored. Unlike flat or discrete terrains, sloped…
CoRDE: Concept-Prior Routed Diffusion Experts for Structural Generalization in Robot Manipulation
Haidong Huang, Xixin Zhao, Yaohua Zhou +5
Diffusion models excel at capturing multi-modal action distributions in robot imitation learning. However, in multi-task and long-horizon scenarios, monolithic architectures lack s…
FD-VLA: Force-Distilled Vision-Language-Action Model for Contact-Rich Manipulation
Ruiteng Zhao, Wenshuo Wang, Yicheng Ma +4
Force sensing is a crucial modality for Vision-Language-Action (VLA) frameworks, as it enables fine-grained perception and dexterous manipulation in contact-rich tasks. We present…
RoCo Challenge at AAAI 2026: Benchmarking Robotic Collaborative Manipulation for Assembly Towards Industrial Automation
Haichao Liu, Yuheng Zhou, Zhenyu Wu +14
Embodied Artificial Intelligence (EAI) is rapidly developing, gradually subverting previous autonomous systems' paradigms from isolated perception to integrated, continuous action.…
GAM-Depth: Self-Supervised Indoor Depth Estimation Leveraging a Gradient-Aware Mask and Semantic Constraints
Anqi Cheng, Zhiyuan Yang, Haiyue Zhu +1
Self-supervised depth estimation has evolved into an image reconstruction task that minimizes a photometric loss. While recent methods have made strides in indoor depth estimation,…