Robotic manipulation with dexterous hands is a cornerstone of Embodied AI, yet its progress is stifled by the high cost of collecting embodiment-aware teleoperation data. While abundant egocentric videos of human hands offer a scalable alternative, the profound discrepancies in appearance, articulation, and camera view...
Zhen-Jie Yang, Xingyu Jiao, Guopeng Zhong et al.· 5 citations
IMPACT is introduced, a scalable Interaction-aware Model training framework with Prior-guided Attention Calibration and Targeting, which consistently outperforms the corresponding MSE-trained baselines, improving interaction fidelity, physical plausibility, and visual quality.
Rong-Ze Tang, Jianjie Fang, Zhao-Lu Wang et al.· 1 citation
Causal Action Effect Reweighting (CAER), a general training paradigm that redistributes supervision toward the tokens whose predicted future is causally affected by the action, is introduced.
Jian-Jie Fang, Xvyuan Liu, Zi-You Wang et al.· 0 citations
WorldScape Policy 2.0 is introduced, a controllable WAM with reasoning-augmented long short-term memory and fine-grained instruction following and in-context adaptation that demonstrates superior capabilities in long-horizon autonomous planning, fine-grained instruction following and in-context adaptation.
Hai-Sheng Su, Zong-Dai Liu, Xin Jin et al.· arXiv.org· 2 citations
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