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cs.RO2026
FRoM-W1: Towards General Humanoid Whole-Body Control with Language Instructions
Peng Li, Zihan Zhuang, Yangfan Gao +16
Humanoid robots are capable of performing various actions such as greeting, dancing and even backflipping. However, these motions are often hard-coded or specifically trained, whic…
cs.RO2025
HiMoE-VLA: Hierarchical Mixture-of-Experts for Generalist Vision-Language-Action Policies
Zhiying Du, Bei Liu, Yaobo Liang +7
Generalist vision--language--action (VLA) policies are typically trained on heterogeneous mixtures of robot demonstrations spanning diverse embodiments, action spaces, and observat…
cs.RO2024
VLABench: A Large-Scale Benchmark for Language-Conditioned Robotics Manipulation with Long-Horizon Reasoning Tasks
Shiduo Zhang, Zhe Xu, Peiju Liu +8
General-purposed embodied agents are designed to understand the users' natural instructions or intentions and act precisely to complete universal tasks. Recently, methods based on…