5 papers
KineBench: Benchmarking Embodied World Models via IDM-Free Kinematic Grounding
Zeyu Liu, Zhangzhe Zhu, Yang Zhang +3
Evaluating the physical consistency of embodied world models(EWMs) is a critical open challenge. While closed-loop evaluation via simulator rollouts offers a more faithful assessme…
PRTS: A Primitive Reasoning and Tasking System via Contrastive Representations
Yang Zhang, Jiangyuan Zhao, Chenyou Fan +11
Vision-Language-Action (VLA) models advance robotic control via strong visual-linguistic priors. However, existing VLAs predominantly frame pretraining as supervised behavior cloni…
Task-Agnostic Pre-training and Task-Guided Fine-tuning for Versatile Diffusion Planner
Chenyou Fan, Chenjia Bai, Zhao Shan +3
Diffusion models have demonstrated their capabilities in modeling trajectories of multi-tasks. However, existing multi-task planners or policies typically rely on task-specific dem…
Towards a Generalizable Bimanual Foundation Policy via Flow-based Video Prediction
Chenyou Fan, Fangzheng Yan, Chenjia Bai +4
Learning a generalizable bimanual manipulation policy is extremely challenging for embodied agents due to the large action space and the need for coordinated arm movements. Existin…
Forward KL Regularized Preference Optimization for Aligning Diffusion Policies
Zhao Shan, Chenyou Fan, Shuang Qiu +2
Diffusion models have achieved remarkable success in sequential decision-making by leveraging the highly expressive model capabilities in policy learning. A central problem for lea…