Author

Rainy Sun

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Preprint Sep 2026

X2Real: an eXtensive simulation benchmark for real-world generalist policies

Generalist robot manipulation policies have developed rapidly, yet their reliable evaluation remains challenging due to fundamental flaws in existing simulation benchmarks: prominent sim-to-real gaps, narrow task coverage, and unfair evaluation caused by ambiguous training-test pipelines. Prior works only partially res...

Lian Ruan, Jade Yang, Sherphylan Gao et al. · 0 citations

Preprint Sep 2026

X-Planner: Event-Structured Task Planning for Embodied Intelligence

This work presents X-Planner, a planning front-end that addresses both the supervision and representation of embodied reasoning, and describes planning-text quality and downstream execution.

Howard Lu, Shalfun Li, Porter Pan et al. · 0 citations

Preprint Aug 2026

WALL-SS: Scaling Long-horizon World Models via Next-Scale Autoregression

WALL-SS is introduced, a world model that generates visual futures through Scale-wise autoregressive Scaling, enabling action-controllable and long-horizon robotic simulation, and consistently benefits from on-policy alignment in reducing action drift and long-horizon inconsistency.

Maeve Zhang, Rainy Sun, Xiang Wang et al. · 2 citations · ⚡1