相关论文: EnerVerse: Envisioning Embodied Future Space for R…

While deep learning has significantly advanced robotic object recognition, purely data-driven approaches often lack semantic consistency and fail to leverage valuable, pre-existing knowledge about the environment. This report presents the…

While multimodal large language models (MLLMs) have made groundbreaking progress in embodied intelligence, they still face significant challenges in spatial reasoning for complex long-horizon tasks. To address this gap, we propose…

Despite rapid progress, embodied agents still struggle with long-horizon manipulation that requires maintaining spatial consistency, causal dependencies, and goal constraints. A key limitation of existing approaches is that task reasoning…

One of the predominant methods for training world models is autoregressive prediction in the output space of the next element of a sequence. In Natural Language Processing (NLP), this takes the form of Large Language Models (LLMs)…

Traditional scene graph generation methods are trained using cross-entropy losses that treat objects and relationships as independent entities. Such a formulation, however, ignores the structure in the output space, in an inherently…

Achieving generalizable and precise robotic manipulation across diverse environments remains a critical challenge, largely due to limitations in spatial perception. While prior imitation-learning approaches have made progress, their…

The embodied intelligence bridges the physical world and information space. As its typical physical embodiment, humanoid robots have shown great promise through robot learning algorithms in recent years. In this study, a hardware platform,…

We present a novel deep neural network architecture for representing robot experiences in an episodic-like memory which facilitates encoding, recalling, and predicting action experiences. Our proposed unsupervised deep episodic memory model…

Reinforcement learning has shown great potential in generalizing over raw sensory data using only a single neural network for value optimization. There are several challenges in the current state-of-the-art reinforcement learning algorithms…

A rich representation is key to general robotic manipulation, but existing approaches to representation learning require large amounts of multimodal demonstrations. In this work we propose PLEX, a transformer-based architecture that learns…

Motivated by the fact that forward and backward passes of a deep network naturally form symmetric mappings between input and output representations, we introduce a simple yet effective self-supervised vision model pretraining framework…

Vision transformer networks have shown superiority in many computer vision tasks. In this paper, we take a step further by proposing a novel generative vision transformer with latent variables following an informative energy-based prior for…

While video-generation-based embodied world models have gained increasing attention, their reliance on large-scale embodied interaction data remains a key bottleneck. The scarcity, difficulty of collection, and high dimensionality of…

Recent advances in foundation models highlight a clear trend toward unification and scaling, showing emergent capabilities across diverse domains. While image generation and editing have rapidly transitioned from task-specific to unified…

There has been substantial progress in humanoid robots, with new skills continuously being taught, ranging from navigation to manipulation. While these abilities may seem impressive, the teaching methods often remain inefficient. To enhance…

Autonomous navigation is a fundamental task for robot vacuum cleaners in indoor environments. Since their core function is to clean entire areas, robots inevitably encounter dead zones in cluttered and narrow scenarios. Existing planning…

Visual Emotion Analysis (VEA) aims to bridge the affective gap between visual content and human emotional responses. Despite its promise, progress in this field remains limited by the lack of open-source and interpretable datasets. Most…

Video generative models are increasingly used as world models for robotics, where a model generates a future visual rollout conditioned on the current observation and task instruction, and an inverse dynamics model (IDM) converts the…

We present En3D, an enhanced generative scheme for sculpting high-quality 3D human avatars. Unlike previous works that rely on scarce 3D datasets or limited 2D collections with imbalanced viewing angles and imprecise pose priors, our…

Life and physical sciences have always been quick to adopt the latest advances in machine learning to accelerate scientific discovery. Examples of this are cell segmentation or cancer detection. Nevertheless, these exceptional results are…