3 papers
cs.RO2026
IronMind: Scaling Humanoid Dexterous Manipulation via Camera-Space Ego-Centric Pretraining
Huimin Pan, Yufan Ren, Kunpeng Song +16
Egocentric human video offers a scalable data source for dexterous manipulation, yet using it to train humanoid robots presents two challenges: (1) an embodiment gap, as human hand…
cs.RO2026
XPACE: Joint World and Action Modeling from Heterogeneous Experience
Jiacheng Wei, Jerry Bai, Xiaoyu Yue +13
A general-purpose robot needs to draw on diverse experience, choose actions, and anticipate how those actions will change the world. We introduce XPACE, a unified embodied world mo…
cs.RO2026
AnyWorld: Factorized Egocentric World Models for Cross-Embodiment Generalization
Cheng Chen, Jerry Bai, Jiacheng Wei +11
Collecting contact-rich robot experiences at scale remains a major bottleneck for generalizable manipulation. Beyond data quantity, robot learning also requires diverse experiences…