19 papers
KAI: A Kinematic-Aware Interface for Data-Efficient Articulated Object Manipulation
Yaping Li, Zhaxizhuoma, Qiaojun Yu +3
Articulated object manipulation requires an understanding of kinematic structure that is difficult and costly to learn from robot demonstrations alone. We introduce the Kinematic-A…
RoboInter1.5: A Holistic Intermediate Representation Suite for Embodied World Modeling and Robotic Manipulation
Ziqin Wang, Hao Li, Weijun Wang +5
Existing robot datasets remain expensive to curate, embodiment-specific, and insufficiently annotated with the fine-grained structure required for generalizable reasoning, executio…
Clarify Before Executing: A Self-Evolving Agent for Resolving Intent Asymmetry in 3D Tool Orchestration
Xiaoye Zhu, Weixin Li, Junan Huo +5
A fundamental intent asymmetry plagues modern 3D asset creation: while state-of-the-art 3D toolchains demand precise, executable parameters, ordinary users typically provide vague,…
InternVLA-A1.5: Unifying Understanding, Latent Foresight, and Action for Compositional Generalization
Haoxiang Ma, Junhao Cai, Xiaoxu Xu +26
Unified models for robot manipulation aim to equip one policy with both the semantic priors of pretrained VLMs and the physical dynamics learned through future prediction. In pract…
Robo3R: Enhancing Robotic Manipulation with Accurate Feed-Forward 3D Reconstruction
Sizhe Yang, Linning Xu, Hao Li +4
3D spatial perception is fundamental to generalizable robotic manipulation, yet obtaining reliable, high-quality 3D geometry remains challenging. Depth sensors suffer from noise an…
ForceVLA2: Unleashing Hybrid Force-Position Control with Force Awareness for Contact-Rich Manipulation
Yang Li, Zhaxizhuoma, Hongru Jiang +11
Embodied intelligence for contact-rich manipulation has predominantly relied on position control, while explicit awareness and regulation of interaction forces remain under-explore…