8 papers
ALAS: Adaptive Long-Horizon Action Synthesis via Async-pathway Stream Disentanglement
Yutong Shen, Hangxu Liu, Lei Zhang +4
Long-Horizon (LH) tasks in Human-Scene Interaction (HSI) are complex multi-step tasks that require continuous planning, sequential decision-making, and extended execution across do…
SIM1: Physics-Aligned Simulator as Zero-Shot Data Scaler in Deformable Worlds
Yunsong Zhou, Hangxu Liu, Xuekun Jiang +12
Robotic manipulation with deformable objects represents a data-intensive regime in embodied learning, where shape, contact, and topology co-evolve in ways that far exceed the varia…
MetaWorld-X: Hierarchical World Modeling via VLM-Orchestrated Experts for Humanoid Loco-Manipulation
Yutong Shen, Hangxu Liu, Penghui Liu +6
Learning natural, stable, and compositionally generalizable whole-body control policies for humanoid robots performing simultaneous locomotion and manipulation (loco-manipulation)…
EmboAlign: Aligning Video Generation with Compositional Constraints for Zero-Shot Manipulation
Gehao Zhang, Zhenyang Ni, Payal Mohapatra +3
Video generative models (VGMs) pretrained on large-scale internet data can produce temporally coherent rollout videos that capture rich object dynamics, offering a compelling found…
MetaWorld: Skill Transfer and Composition in a Hierarchical World Model for Grounding High-Level Instructions
Yutong Shen, Hangxu Liu, Kailin Pei +2
Humanoid robot loco-manipulation remains constrained by the semantic-physical gap. Current methods face three limitations: Low sample efficiency in reinforcement learning, poor gen…
InternData-A1: Pioneering High-Fidelity Synthetic Data for Pre-training Generalist Policy
Yang Tian, Yuyin Yang, Yiman Xie +13
Recent works explore how real and synthetic data contribute to Vision-Language-Action (VLA) models' generalization. While current VLA models have shown the strong effectiveness of…