9 papers
Rapid Embodiment Adaptation for Quadrupedal Locomotion
Dichen Li, Bo Ai, Nico Bohlinger +3
Humans readily adapt their movements as their bodies change through aging, injury, or load carrying, but learning-based robot policies often break when hardware properties shift. W…
AnyHand: A Large-Scale Synthetic Dataset for RGB(-D) Hand Pose Estimation
Chen Si, Yulin Liu, Bo Ai +4
We present AnyHand, a large-scale synthetic dataset designed to advance the state of the art in 3D hand pose estimation. While recent works with foundation approaches have shown th…
DLEBench: Evaluating Small-scale Object Editing Ability for Instruction-based Image Editing Model
Shibo Hong, Boxian Ai, Jun Kuang +5
Significant progress has been made in the field of Instruction-based Image Editing Models (IIEMs). However, while these models demonstrate plausible adherence to instructions and s…
Scaling Cross-Embodiment World Models for Dexterous Manipulation
Zihao He, Bo Ai, Tongzhou Mu +6
Cross-embodiment learning seeks to build generalist robots that learn from and operate across diverse morphologies, but differences in kinematics and action spaces hinder data shar…
Enhancing Generalization in Vision-Language-Action Models by Preserving Pretrained Representations
Shresth Grover, Akshay Gopalkrishnan, Bo Ai +3
Vision-language-action (VLA) models finetuned from vision-language models (VLMs) hold the promise of leveraging rich pretrained representations to build generalist robots across di…
Towards Embodiment Scaling Laws in Robot Locomotion
Bo Ai, Liu Dai, Nico Bohlinger +7
Cross-embodiment generalization underpins the vision of building generalist embodied agents for any robot, yet its enabling factors remain poorly understood. We investigate embodim…