World-Action Models (WAMs) offer visual foresight for robotic manipulation, but pixel-space models repeatedly reconstruct entire future scenes, incurring high computational cost and spatio-temporal redundancy. In physical manipulation, consecutive frames often share most of their visual context; the changes between the...
Tian-Yun Jiang, Wen-Rui Bao, Bing-Xin Xu et al.· 0 citations
This paper aims to reduce latency and the dynamic memory usage of the π 0.5 model by performing timestep distillation on the diffusion process in the π 0.5 action head to create a 3-step diffusion action head.
Coding agents have emerged as a promising paradigm for robot manipulation: a language model writes the robot controller as a program, and agents built in this way now operate robots without robot-specific training.Whether this paradigm is also safe, however, has not been asked. We evaluate coding agent under a safety c...
Bing-Xin Xu, Yu-Zhang Shang, Zhen-Han Dong et al.· 0 citations
Learning reliable surgical manipulation policies is bottlenecked by the scarcity of action-labeled demonstrations: teleoperated surgical robot (e.g., dVRK) trajectories with synchronized kinematics are costly to collect, while surgical tasks demand precise contact handling, long-horizon reasoning, and bimanual coordina...
Wenrui Bao, Tianyun Jiang, Zhiben Chen et al.· 0 citations
BATON improves task success by 11.6% and cumulative success by 14.9% over the SoTA and improves task success by 11.6% over the RoboMemArena on the long-horizon benchmark RoboMemArena.
