5 papers
EmbodiedSmith: Scaling Embodied Data through Recursive Self-Improvement Flywheel in Simulation
Yikai Qin, Yifei Deng, Mingjian Liang +13
Scaling robotic foundation models requires diverse training data and reliable evaluation environments. Simulation offers a scalable solution, yet existing generation pipelines rema…
HCSG: Human-Centric Semantic-Geometric Reasoning for Vision-Language Navigation
Haoxuan Xu, Tianfu Li, Wenbo Chen +7
VLN has achieved remarkable progress by scaling data and model capacity. However, the assumption of a static environment breaks down in real-world indoor scenarios, where robots in…
RoboMemArena: A Comprehensive and Challenging Robotic Memory Benchmark
Huashuo Lei, Wenxuan Song, Huarui Zhang +10
Memory is a critical component of robotic intelligence, as robots must rely on past observations and actions to accomplish long-horizon tasks in partially observable environments.…
Rethinking the Practicality of Vision-language-action Model: A Comprehensive Benchmark and An Improved Baseline
Wenxuan Song, Jiayi Chen, Xiaoquan Sun +12
Vision-Language-Action (VLA) models have emerged as a generalist robotic agent. However, existing VLAs are hindered by excessive parameter scales, prohibitive pre-training requirem…
Efficient Long-Horizon Vision-Language-Action Models via Static-Dynamic Disentanglement
Weikang Qiu, Huashuo Lei, Tinglin Huang +1
Vision-Language-Action (VLA) models have recently emerged as a promising paradigm for generalist robotic control. Built upon vision-language model (VLM) architectures, VLAs predict…