10 papers
LabInstruct: Benchmarking Situated Instructional Video Generation for Lab Procedures
Yuming Fu, Weijia Wu, Jing Chen +5
Self-driving laboratories (SDLs) aim to automate the full experimental loop, from scientific decision-making to physical execution. Ideally, AI-generated plans could be carried out…
GEM-Occ: From Visual Geometry Evidence to Embodied Semantic Occupancy Memory
Hu Zhu, Bohan Li, Xianda Guo +8
Embodied agents exploring indoor environments require reliable semantic occupancy memory that persists across observations and revisits. Building such memory is challenging because…
DeformGen: Dynamics-Based Topology Augmentation for Deformable Manipulation Policy Learning
Zili Lin, Wenyao Zhang, Yuyang Zhang +9
Demonstration augmentation is proposed for cost-efficient data acquisition, but existing methods are fundamentally limited in deformable manipulation due to two challenges: (1) the…
LIBERO-Safety: A Comprehensive Benchmark for Physical and Semantic Safety in Vision-Language-Action Models
Rongxu Cui, Zongzheng Zhang, Jingrui Pang +11
Despite the impressive manipulation capabilities of Vision-Language-Action (VLA) models, their operational safety under strict constraints remains largely unverified. To address th…
CP4D: Compositional Physics-aware 4D Scene Generation
Hanxin Zhu, Cong Wang, Tianyu He +4
4D generation (\textit{i.e.}, dynamic 3D generation) has recently emerged as a rapidly growing research frontier due to its powerful spatiotemporal modeling capabilities. However,…
GTA: Advancing Image-to-3D World Generation via Geometry Then Appearance Video Diffusion
Hanxin Zhu, Cong Wang, Peiyan Tu +4
Recent developments in generative models and large-scale datasets have substantially advanced 3D world generation, facilitating a broad range of domains including spatial intellige…
From Articulated Kinematics to Routed Visual Control for Action-Conditioned Surgical Video Generation
Bohan Li, Shuojue Yang, Baorui Peng +10
Action-conditioned surgical video generation is a critical yet highly challenging problem for robotic surgery. The core difficulty is that low-dimensional control vectors must prec…
Scaling Up Occupancy-centric Driving Scene Generation: Dataset and Method
Bohan Li, Xin Jin, Hu Zhu +9
Driving scene generation is a critical domain for autonomous driving, enabling downstream applications, including perception and planning evaluation. Occupancy-centric methods have…
OmniNWM: Omniscient Driving Navigation World Models
Bohan Li, Zhuang Ma, Dalong Du +10
Autonomous driving world models are expected to work effectively across three core dimensions: state, action, and reward. However, existing methods are typically restricted to frag…
ORV: 4D Occupancy-centric Robot Video Generation
Xiuyu Yang, Bohan Li, Shaocong Xu +9
Recent embodied intelligence suffers from data scarcity, while conventional simulators lack visual realism. Controllable video generation is emerging as a promising data engine, ye…