Author

Wei Liang

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#artificial intelligence Preprint Jan 2026

Sim-and-Human Co-training for Data-Efficient and Scene-Generalizable Bimanual Manipulation

SimHum is presented, a co-training recipe that extracts kinematic priors from simulation and visual priors from human observations, then fine-tunes on a small real-robot dataset, which exhibits strong scene-generalizable and data-efficient capabilities.

Kaipeng Fang, Wei Liang, Yu-Yang Li et al. · 0 citations

Open access Aug 2026

Embodied Scene Rearrangement Planning

Experimental results demonstrate that current methods struggle to complete the ESRP task efficiently, highlighting ESRP as a challenging frontier for embodied agents in scene understanding and long-horizon task planning.

Can-Zhi Chen, Zan Wang, Si-Qi Zhu et al. · IEEE Robotics and Automation... · 0 citations