12 papers
Progress Reward Modeling for Robotic Learning: A Comprehensive Survey
Jianshu Zhang, Keliang Wu, Haoran Lu +8
Robotic learning takes place in dynamic environments with large behavior spaces. A terminal success signal only tells the robot whether the task is completed. It does not explain w…
MagicSim: A Unified Infrastructure for Executable Embodied Interaction
Haoran Lu, Songling Liu, Yue Chen +15
Robot learning and embodied agents now require simulation to serve as a shared execution substrate linking control, skills, and planning, not only as a renderer, controller testbed…
AnnotateAnything: Automatic Annotation of 3D Assets for Robot Manipulation
Haoran Lu, Mutian Shen, Shuyang Yu +9
Simulation enables scalable robot data collection, but raw 3D assets provide only geometry, lacking the semantic, interactive, and physical knowledge needed to specify where and ho…
Phys4D: Fine-Grained Physics-Consistent 4D Modeling from Video Diffusion
Haoran Lu, Shang Wu, Songling Liu +10
Recent video diffusion models have achieved impressive capabilities as large-scale generative world models. However, these models often struggle with fine-grained physical consiste…
SPACENUM: Revisiting Spatial Numerical Understanding in VLMs
Jianshu Zhang, Yijiang Li, Huifeixin Chen +4
Vision-Language Models (VLMs) are increasingly deployed in embodied environments, where they need produce numerical outputs such as action magnitudes and spatial coordinates. Altho…
LABO: LLM-Accelerated Bayesian Optimization through Broad Exploration and Selective Experimentation
Zhuo Chen, Xinzhe Yuan, Jianshu Zhang +8
The high cost and data scarcity in scientific exploration have motivated the use of large language models (LLMs) as knowledge-driven components in Bayesian optimization (BO). Howev…