13 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…
RoboDojo: A Unified Sim-and-Real Benchmark for Comprehensive Evaluation of Generalist Robot Manipulation Policies
Tianxing Chen, Yue Chen, Zixuan Li +41
Generalist robot manipulation policies have advanced rapidly, yet existing benchmarks remain limited in systematically evaluating their capabilities. Many rely on simple, short-hor…
APT: Atomic Physical Transitions for Causal Video-Language Understanding
Shang Wu, Haoran Lu, Songling Liu +7
Physical events are not understood by their names alone, but by the causal state changes that compose them. A clip-level label such as "bounce" can be correct while hiding the proc…
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…