12 papers
Multi-View Unified Camera Fields: Geometry-Shaped Action-Facing Representations for RGB-Only Multi-Camera VLA Policies
Jiarui Yang, Yehao Lu, Yuning Su +9
Vision-Language-Action (VLA) models have shown strong generalization in robotic manipulation, yet complex contact-rich tasks often benefit from multi-camera observations that joint…
Perceptive Behavior Foundation Model: Adapting Human Motion Priors to Robot-Centric Terrain
Zifan Wang, Yizhao Li, Teli Ma +5
Humanoid behavior foundation models aim to acquire reusable whole-body control policies from broad human motion priors, enabling a single controller to produce diverse and expressi…
MotionWAM: Towards Foundation World Action Models for Real-Time Humanoid Loco-Manipulation
Jia Zheng, Teli Ma, Yudong Fan +3
World Action Models (WAMs) couple a video dynamics prior to the policy and have shown encouraging results on tabletop manipulation, but iterative denoising over high-dimensional vi…
DiT4DiT: Jointly Modeling Video Dynamics and Actions for Generalizable Robot Control
Teli Ma, Jia Zheng, Zifan Wang +4
Vision-Language-Action (VLA) models have emerged as a promising paradigm for robot learning, but their representations are still largely inherited from static image-text pretrainin…
EgoTraj-Bench: Towards Robust Trajectory Prediction Under Ego-view Noisy Observations
Jiayi Liu, Jiaming Zhou, Ke Ye +3
Reliable trajectory prediction from an ego-centric perspective is crucial for robotic navigation in human-centric environments. However, existing methods typically assume noiseless…
From Watch to Imagine: Steering Long-horizon Manipulation via Human Demonstration and Future Envisionment
Ke Ye, Jiaming Zhou, Yuanfeng Qiu +4
Generalizing to long-horizon manipulation tasks in a zero-shot setting remains a central challenge in robotics. Current multimodal foundation based approaches, despite their capabi…