12 papers
HandEdit: A Unified Benchmark for Egocentric Human-to-Robot Dexterous Hand Image Editing
Zhenjie Yang, Xingyu Jiao, Guopeng Zhong +18
Robotic manipulation with dexterous hands is a cornerstone of Embodied AI, yet its progress is stifled by the high cost of collecting embodiment-aware teleoperation data. While abu…
EgoRecovery: Acquiring Failure Recovery Ability Through Human Recovery Demonstration
Zuhao Ge, Yuchen Zhou, Weitao Zhou +8
Robust embodied robots should be able to recover from failures and retry tasks in order to operate reliably in unstructured and noisy real-world environments. Achieving this capabi…
Seeing Touch from Motion: A Unified Modality-Aware Visuo-Tactile Policy with Tactile Motion Correlation
Shengqi Xu, Guojin Zhong, Yang Liu +7
Visuo-Tactile policies leveraging optical tactile sensors have shown great promise in contact-rich manipulation. These sensors achieve high spatial resolution and multi-dimensional…
ThinkingVLA: Interleaved Vision and Language Reasoning for Robotic Manipulation
Tianyi Lu, Hui Zhang, Zijie Diao +8
Most Vision-Language-Action (VLA) models map observations directly to actions without explicit reasoning, limiting their capacity for reasoning-intensive long-horizon tasks. To add…
RepWAM: World Action Modeling with Representation Visual-Action Tokenizers
Junke Wang, Qihang Zhang, Shuai Yang +5
This work presents RepWAM, a representation-centric world action model (WAM) built on representation visual-action tokenizers. Existing WAMs typically inherit reconstruction-orient…
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…