Author

Jiaming Liu

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Preprint Sep 2026

EgoWild2Dex: Learning Dexterous Robotic Manipulation from In-the-Wild Human Experience

EgoWild2Dex, which transfers in-the-wild ego-human experience to dual-arm robots with dexterous hands by jointly aligning unstable egocentric views and human motions with robot observations and actions, is introduced and GeoFormer, a differentiable geometric transformer that warps noisy human observations toward robot...

Kun-Li Channing Lin, Xu-Tao Wen, Jin-Xiao Lin et al. · 0 citations

Preprint Aug 2026

Do Robotic World Models Really Follow Actions? Diagnosing and Aligning Action-Conditioned Generation for Policy Learning

Action-conditioned world models are increasingly used as learned simulators for policy evaluation and improvement, yet their effectiveness rests on an unverified assumption: generated futures faithfully reflect arbitrary valid actions. Existing benchmarks are typically confined to expert demonstrations, leaving off-exp...

Si-Xiang Chen, Jia-Ming Liu, Ji-Xin Wu et al. · 0 citations

Jul 2026

Data Pyramid for Embodied Manipulation

This work organizes the embodied data ecosystem as a pyramidspanning five complementary sources: real-robot data, UMI-style data, egocentric and exocentric data, simulation data, and general vision-language data, and further characterize each source in terms of data quality, diversity, reusability, and physical fidelit...

Yifan Ye, Yankai Fu, Ya-hui Lv et al. · arXiv.org · 4 citations