4 papers
LynxScenes: A Large-Scale Real-World Benchmark for Outdoor Wheel-Legged Robot Perception, Navigation, Imagination and Reconstruction
Jun Tian, Hao Wu, Ruo Chen +5
Wheel-legged robots operating in outdoor spaces shared with humans require accurate perception, socially compliant navigation, future-scene reasoning, and scene reconstruction. How…
From Pixels to Executable Physics: Behavior-Grounded World Models for Embodied Action Consequence Prediction
Ruo Chen, Jiahua Pang, Yingjie Niu +4
In outdoor environments, varying terrain and contact conditions can cause identical action commands to produce different motion outcomes for quadruped robots. Predicting these outc…
Beyond the Remembered World: Predictive 4D Belief for Persistent Navigation in Evolving Worlds
Mingjian Gao, Zhaocheng Li, Haoyang Huang +7
Persistent spatial memory enables embodied agents to navigate familiar environments across repeated visits. However, targets may move while unobserved, including during navigation,…
EmbodiedSkills: World Action Model-augmented Cascaded Skills for Vision-Language-Action Agent
Wei Wang, Wenqiao Zhang, Yutong Lin +14
Vision-language-action (VLA) policies generate executable robot actions, but plausible proposals can have different consequences for the task. We present EmbodiedSkills, a skill-ba…