6 papers
mmRadarTwin: A Measurement-Calibrated Signal-Level Digital Twin Platform for Indoor mmWave Radar
Jianyi Zhou, Chenghao Zhang, Yanli Li +1
The paper introduces mmRadarTwin, a platform that creates signal-level digital twins of indoor mmWave radar scenes by linking real FMCW radar measurements with Unreal Engine simula…
TouchWorld: A Predictive and Reactive Tactile Foundation Model for Dexterous Manipulation
Jianyi Zhou, Feiyang Hong, Yunhao Li +9
Dexterous manipulation in everyday environments requires both anticipation and reaction: a robot must predict how contact should evolve while rapidly correcting local errors caused…
TouchAnything: A Dataset and Framework for Bimanual Tactile Estimation from Egocentric Video
Jianyi Zhou, Ziteng Gao, Feiyang Hong +11
Egocentric human video data, which captures rich human-environment interactions and can be collected at scale, has become a key driver of embodied intelligence research. However, e…
ESARBench: A Benchmark for Agentic UAV Embodied Search and Rescue
Daoxuan Zhang, Ping Chen, Jianyi Zhou +1
The rapid advancement of Multimodal Large Language Models (MLLMs) has empowered Unmanned Aerial Vehicle (UAV) with exceptional capabilities in spatial reasoning, semantic understan…
ConLA: Contrastive Latent Action Learning from Human Videos for Robotic Manipulation
Weisheng Dai, Kai Lan, Jianyi Zhou +5
Vision-Language-Action (VLA) models achieve preliminary generalization through pretraining on large scale robot teleoperation datasets. However, acquiring datasets that comprehensi…
Inject Once Survive Later: Backdooring Vision-Language-Action Models to Persist Through Downstream Fine-tuning
Jianyi Zhou, Yujie Wei, Ruichen Zhen +5
Vision-Language-Action (VLA) models have become foundational to modern embodied AI systems. By integrating visual perception, language understanding, and action planning, they enab…