4 papers · 1 filter
PokeVLA: Empowering Pocket-Sized Vision-Language-Action Model with Comprehensive World Knowledge Guidance
Yupeng Zheng, Xiang Li, Songen Gu +12
Recent advances in Vision-Language-Action (VLA) models have opened new avenues for robot manipulation, yet existing methods exhibit limited efficiency and a lack of high-level know…
VistaBot: View-Robust Robot Manipulation via Spatiotemporal-Aware View Synthesis
Songen Gu, Yuhang Zheng, Weize Li +6
Recently, end-to-end robotic manipulation models have gained significant attention for their generalizability and scalability. However, they often suffer from limited robustness to…
OmniVTA: Visuo-Tactile World Modeling for Contact-Rich Robotic Manipulation
Yuhang Zheng, Songen Gu, Weize Li +11
Contact-rich manipulation tasks, such as wiping and assembly, require accurate perception of contact forces, friction changes, and state transitions that cannot be reliably inferre…
World In Your Hands: A Large-Scale and Open-Source Ecosystem for Learning Human-Centric Manipulation in the Wild
Yupeng Zheng, Jichao Peng, Weize Li +22
We introduce World In Your Hands (WIYH), a large-scale open-source ecosystem comprising over 1,000 hours of human manipulation data collected in-the-wild with millimeter-scale moti…