5 papers
Doob-Based Generative Policy Optimization
Maojiang Su, Qijie Zhu, Yu Xiao +4
Diffusion and flow models provide expressive policy classes for robotic and sequential decision-making systems. However, their action likelihoods are generally intractable, limitin…
Are Production Cloud Skills Adequately Tested? Measuring and Governing Skill Test Adequacy in Practice
Haotian Si, Junyi Chen, Shuyang Yu +5
Cloud platforms increasingly deliver reusable Cloud Skills that guide AI agents through multi-step resource operations, user choices, validation, and recovery. Existing Skill evalu…
SoftNav: Injecting 3D Scene Tokens into VLMs for Embodied Navigation
Yi Wu, Junjie An, Xiao Liu +6
In goal-directed embodied navigation, where an agent must locate a specified target in an unseen environment, 3D scene understanding and navigation reasoning must work in concert.…
MagicSim: A Unified Infrastructure for Executable Embodied Interaction
Haoran Lu, Songling Liu, Yue Chen +15
Robot learning and embodied agents now require simulation to serve as a shared execution substrate linking control, skills, and planning, not only as a renderer, controller testbed…
AnnotateAnything: Automatic Annotation of 3D Assets for Robot Manipulation
Haoran Lu, Mutian Shen, Shuyang Yu +9
Simulation enables scalable robot data collection, but raw 3D assets provide only geometry, lacking the semantic, interactive, and physical knowledge needed to specify where and ho…