6 papers · 1 filter
ActiveMimic: Egocentric Video Pretraining with Active Perception
Xingyao Lin, Guojin Zhong, Tianyi Lu +4
Egocentric human video offers a scalable alternative to robot data for pretraining, yet models pretrained on such video consistently underperform those pretrained on robot data. We…
OpenEAI-Platform: An Open-source Embodied Artificial Intelligence Hardware-Software Unified Platform
Jinyuan Zhang, Luoyi Fan, Leiyu Wang +4
Embodied AI in the real world requires both accurate hardware and robust vision-language-action (VLA) policies. We present OpenEAI-Platform, a fully open-source platform that integ…
Hi-WM: Human-in-the-World-Model for Scalable Robot Post-Training
Yaxuan Li, Zhongyi Zhou, Yefei Chen +5
Post-training is essential for turning pretrained generalist robot policies into reliable task-specific controllers, but existing human-in-the-loop pipelines remain tied to physica…
dWorldEval: Scalable Robotic Policy Evaluation via Discrete Diffusion World Model
Yaxuan Li, Zhongyi Zhou, Yefei Chen +2
Evaluating robotics policies across thousands of environments and thousands of tasks is infeasible with existing approaches. This motivates the need for a new methodology for scala…
HumanoidExo: Scalable Whole-Body Humanoid Manipulation via Wearable Exoskeleton
Rui Zhong, Yizhe Sun, Junjie Wen +7
A significant bottleneck in humanoid policy learning is the acquisition of large-scale, diverse datasets, as collecting reliable real-world data remains both difficult and cost-pro…
ActiveUMI: Robotic Manipulation with Active Perception from Robot-Free Human Demonstrations
Qiyuan Zeng, Chengmeng Li, Jude St. John +5
We present ActiveUMI, a framework for a data collection system that transfers in-the-wild human demonstrations to robots capable of complex bimanual manipulation. ActiveUMI couples…