31 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…
Enhancing Video Physical Consistency via Role-aware Joint Training and Modality-decoupled Denoising
Guangting Zheng, Haojing Chen, Hao Li +6
While modern video diffusion models excel in visual fidelity, maintaining long-range physical consistency remains a formidable challenge. Conventional pixel-reconstruction objectiv…
Point as Skeleton: Accumulated Point Cloud Enhanced Autoregressive Generation for Closed-Loop Autonomous Driving Simulation
Songbur Wong, Xiaosong Jia, Junqi You +12
Evaluating end-to-end autonomous driving (E2E-AD) remains challenging, as existing driving simulation methods often trade off closed-loop interactivity (e.g., CARLA) and real-world…
LaGen: Towards Autoregressive LiDAR Scene Generation
Sizhuo Zhou, Xiaosong Jia, Fanrui Zhang +7
Generative world models for autonomous driving (AD) are of great value in applications such as data augmentation, closed-loop simulation, and safety-critical scenario evaluation. U…
ReactSim-Bench: Benchmarking Reactive Behavior World Model Simulation in Autonomous Driving
Zhiyuan Zhang, Yanlun Peng, Jianing Zhang +7
Reactive capability is a key property of data-driven behavior world model simulators for autonomous driving simulation systems. With this capability, simulated world agents can res…