相关论文: Embody4D: A Generalist 4D World Model for Embodied…

A world model is an AI system that simulates how an environment evolves under actions, enabling planning through imagined futures rather than reactive perception. Current world models, however, suffer from visual conflation: the mistaken…

Humans and animals excel in combining information from multiple sensory modalities, controlling their complex bodies, adapting to growth, failures, or using tools. These capabilities are also highly desirable in robots. They are displayed…

Recent advancements in 3D reconstruction and neural rendering have enhanced the creation of high-quality digital assets, yet existing methods struggle to generalize across varying object shapes, textures, and occlusions. While Next Best…

Robot manipulation in the real world is fundamentally constrained by the visual sim2real gap, where depth observations collected in simulation fail to reflect the complex noise patterns inherent to real sensors. In this work, inspired by…

Tracking body and hand motions in the 3D space is essential for social and self-presence in augmented and virtual environments. Unlike the popular 3D pose estimation setting, the problem is often formulated as inside-out tracking based on…

Training robot policies within a learned world model is trending due to the inefficiency of real-world interactions. The established image-based world models and policies have shown prior success, but lack robust geometric information that…

Reconstructing dynamic 3D scenes from 2D images and generating diverse views over time is challenging due to scene complexity and temporal dynamics. Despite advancements in neural implicit models, limitations persist: (i) Inadequate Scene…

In this paper, we propose AUKAI, an Adaptive Unified Knowledge-Action Intelligence for embodied cognition that seamlessly integrates perception, memory, and decision-making via multi-scale error feedback. Interpreting AUKAI as an embedded…

Embodied intelligence has witnessed remarkable progress in recent years, driven by advances in computer vision, natural language processing, and the rise of large-scale multimodal models. Among its core challenges, robot manipulation stands…

The rapid advancement of Embodied AI has led to an increasing demand for large-scale, high-quality real-world data. However, collecting such embodied data remains costly and inefficient. As a result, simulation environments have become a…

We present a novel method for generating geometrically realistic and consistent orbital videos from a single image of an object. Existing video generation works mostly rely on pixel-wise attention to enforce view consistency across frames.…

Explorable 3D world generation from a single image or text prompt forms a cornerstone of spatial intelligence. Recent works utilize video model to achieve wide-scope and generalizable 3D world generation. However, existing approaches often…

Vision-language models (VLMs) have demonstrated strong performance in 2D scene understanding and generation, but extending this unification to the physical world remains an open challenge. Existing 3D and 4D approaches typically embed scene…

Fully immersive experiences that tightly integrate 6-DoF visual and auditory interaction are essential for virtual and augmented reality. While such experiences can be achieved through computer-generated content, constructing them directly…

Video generation models have made significant progress in simulating future states, showcasing their potential as world simulators in embodied scenarios. However, existing models often lack robust understanding, limiting their ability to…

4D head capture aims to generate dynamic topological meshes and corresponding texture maps from videos, which is widely utilized in movies and games for its ability to simulate facial muscle movements and recover dynamic textures in…

World models empower model-based agents to interactively explore, reason, and plan within imagined environments for real-world decision-making. However, the high demand for interactivity poses challenges in harnessing recent advancements in…

Embodied AI (EAI) research requires high-quality, diverse 3D scenes to effectively support skill acquisition, sim-to-real transfer, and generalization. Achieving these quality standards, however, necessitates the precise replication of…

Vision language models (VLMs) have shown remarkable capabilities in integrating linguistic and visual reasoning but remain fundamentally limited in understanding dynamic spatiotemporal interactions. Humans effortlessly track and reason…

Generalist robot policies can now perform a wide range of manipulation skills, but evaluating and improving their ability with unfamiliar objects and instructions remains a significant challenge. Rigorous evaluation requires a large number…