A 48-camera residential platform delivers real-time occlusion-robust 3D perception and coordinated actuation for multi-human multi-robot interaction in a shared home workspace.
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Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation
21 Pith papers cite this work. Polarity classification is still indexing.
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ANCHOR raises mobile manipulation success from 53.3% to 71.7% in unseen homes by binding plans to observable geometry, ensuring operable navigation endpoints, and using layered local recovery instead of global replans.
VLA models exhibit a compute-bound VLM phase followed by a memory-bound action phase on edge hardware; DP-Cache and V-AEFusion reduce redundancy and enable pipeline parallelism for up to 6x speedup on NPUs with marginal task degradation.
BiCoord is a new benchmark for long-horizon tightly coordinated bimanual manipulation that includes quantitative metrics and shows existing policies like DP, RDT, Pi0 and OpenVLA-OFT struggle on such tasks.
UMI enables zero-shot deployment of robot manipulation policies trained solely on portable human demonstrations captured with custom handheld grippers, supporting dynamic bimanual tasks across novel environments and objects.
CUBic learns a shared tokenized representation for bimanual robot perception and control via unidirectional aggregation, bidirectional codebook coordination, and a unified diffusion policy, yielding higher coordination accuracy and task success on the RoboTwin benchmark.
VISER is a new visually realistic simulation benchmark for robot manipulation tasks that uses PBR materials and MLLM-assisted asset generation, achieving 0.92 Pearson correlation with real-world policy performance.
BifrostUMI enables robot-free human demonstration capture via VR and wrist cameras to train visuomotor policies that predict keypoint trajectories for transfer to humanoid whole-body control through retargeting.
LeHome is a simulation platform offering high-fidelity dynamics for robotic manipulation of varied deformable objects in household settings, with support for multiple robot embodiments including low-cost hardware.
WM-DAgger uses world models with corrective action synthesis and consistency-guided filtering to aggregate OOD recovery data for imitation learning, reporting 93.3% success in soft bag pushing with five demonstrations.
WARPED synthesizes realistic wrist-view observations from monocular egocentric human videos via foundation models, hand-object tracking, retargeting, and Gaussian Splatting to train visuomotor policies that match teleoperation success rates on five tabletop tasks with 5-8x less collection effort.
EgoTSR applies a three-stage curriculum on a 46-million-sample dataset to build egocentric spatiotemporal reasoning, reaching 92.4% accuracy on long-horizon tasks and reducing chronological biases.
ARM trains reward models on Progressive/Regressive/Stagnant labels to enable adaptive reweighting in offline RL, reaching 99.4% success on towel-folding with minimal human intervention.
RoboTwin 2.0 automates diverse synthetic data creation for dual-arm robots via MLLMs and five-axis domain randomization, leading to 228-367% gains in manipulation success.
RDT-1B is a diffusion foundation model that unifies action spaces across robots and demonstrates superior bimanual manipulation with zero-shot generalization, language following, and few-shot learning on real robots.
Octo is an open-source transformer-based generalist robot policy pretrained on 800k trajectories that serves as an effective initialization for finetuning across diverse robotic platforms.
SIMPLER simulated environments yield policy performance that correlates strongly with real-world robot manipulation results and captures similar sensitivity to distribution shifts.
DROID is a new 76k-trajectory in-the-wild robot manipulation dataset spanning 564 scenes and 84 tasks that improves policy performance and generalization when used for training.
SASI combines skeleton-based graph convolutions with sub-action semantics for improved early action recognition on the BABEL dataset.
StableIDM stabilizes inverse dynamics models under manipulator truncation by combining robot-centric masking, directional spatial feature aggregation, and temporal dynamics refinement, yielding 12.1% higher strict action accuracy on AgiBot and 9.7-17.6% gains in real-robot tasks.
A literature survey that unifies fragmented work on attacks, defenses, evaluations, and deployment challenges for Vision-Language-Action models in robotics.
citing papers explorer
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OmniRobotHome: A Multi-Camera Platform for Real-Time Multiadic Human-Robot Interaction
A 48-camera residential platform delivers real-time occlusion-robust 3D perception and coordinated actuation for multi-human multi-robot interaction in a shared home workspace.
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ANCHOR: A Physically Grounded Closed-Loop Framework for Robust Home-Service Mobile Manipulation
ANCHOR raises mobile manipulation success from 53.3% to 71.7% in unseen homes by binding plans to observable geometry, ensuring operable navigation endpoints, and using layered local recovery instead of global replans.
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Characterizing Vision-Language-Action Models across XPUs: Constraints and Acceleration for On-Robot Deployment
VLA models exhibit a compute-bound VLM phase followed by a memory-bound action phase on edge hardware; DP-Cache and V-AEFusion reduce redundancy and enable pipeline parallelism for up to 6x speedup on NPUs with marginal task degradation.
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BiCoord: A Bimanual Manipulation Benchmark towards Long-Horizon Spatial-Temporal Coordination
BiCoord is a new benchmark for long-horizon tightly coordinated bimanual manipulation that includes quantitative metrics and shows existing policies like DP, RDT, Pi0 and OpenVLA-OFT struggle on such tasks.
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Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots
UMI enables zero-shot deployment of robot manipulation policies trained solely on portable human demonstrations captured with custom handheld grippers, supporting dynamic bimanual tasks across novel environments and objects.
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CUBic: Coordinated Unified Bimanual Perception and Control Framework
CUBic learns a shared tokenized representation for bimanual robot perception and control via unidirectional aggregation, bidirectional codebook coordination, and a unified diffusion policy, yielding higher coordination accuracy and task success on the RoboTwin benchmark.
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Toward Visually Realistic Simulation: A Benchmark for Evaluating Robot Manipulation in Simulation
VISER is a new visually realistic simulation benchmark for robot manipulation tasks that uses PBR materials and MLLM-assisted asset generation, achieving 0.92 Pearson correlation with real-world policy performance.
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BifrostUMI: Bridging Robot-Free Demonstrations and Humanoid Whole-Body Manipulation
BifrostUMI enables robot-free human demonstration capture via VR and wrist cameras to train visuomotor policies that predict keypoint trajectories for transfer to humanoid whole-body control through retargeting.
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LeHome: A Simulation Environment for Deformable Object Manipulation in Household Scenarios
LeHome is a simulation platform offering high-fidelity dynamics for robotic manipulation of varied deformable objects in household settings, with support for multiple robot embodiments including low-cost hardware.
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WM-DAgger: Enabling Efficient Data Aggregation for Imitation Learning with World Models
WM-DAgger uses world models with corrective action synthesis and consistency-guided filtering to aggregate OOD recovery data for imitation learning, reporting 93.3% success in soft bag pushing with five demonstrations.
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WARPED: Wrist-Aligned Rendering for Robot Policy Learning from Egocentric Human Demonstrations
WARPED synthesizes realistic wrist-view observations from monocular egocentric human videos via foundation models, hand-object tracking, retargeting, and Gaussian Splatting to train visuomotor policies that match teleoperation success rates on five tabletop tasks with 5-8x less collection effort.
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ARM: Advantage Reward Modeling for Long-Horizon Manipulation
ARM trains reward models on Progressive/Regressive/Stagnant labels to enable adaptive reweighting in offline RL, reaching 99.4% success on towel-folding with minimal human intervention.
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RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation
RoboTwin 2.0 automates diverse synthetic data creation for dual-arm robots via MLLMs and five-axis domain randomization, leading to 228-367% gains in manipulation success.
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RDT-1B: a Diffusion Foundation Model for Bimanual Manipulation
RDT-1B is a diffusion foundation model that unifies action spaces across robots and demonstrates superior bimanual manipulation with zero-shot generalization, language following, and few-shot learning on real robots.
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Octo: An Open-Source Generalist Robot Policy
Octo is an open-source transformer-based generalist robot policy pretrained on 800k trajectories that serves as an effective initialization for finetuning across diverse robotic platforms.
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Evaluating Real-World Robot Manipulation Policies in Simulation
SIMPLER simulated environments yield policy performance that correlates strongly with real-world robot manipulation results and captures similar sensitivity to distribution shifts.
-
DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset
DROID is a new 76k-trajectory in-the-wild robot manipulation dataset spanning 564 scenes and 84 tasks that improves policy performance and generalization when used for training.
-
SASI: Leveraging Sub-Action Semantics for Robust Early Action Recognition in Human-Robot Interaction
SASI combines skeleton-based graph convolutions with sub-action semantics for improved early action recognition on the BABEL dataset.
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StableIDM: Stabilizing Inverse Dynamics Model against Manipulator Truncation via Spatio-Temporal Refinement
StableIDM stabilizes inverse dynamics models under manipulator truncation by combining robot-centric masking, directional spatial feature aggregation, and temporal dynamics refinement, yielding 12.1% higher strict action accuracy on AgiBot and 9.7-17.6% gains in real-robot tasks.
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Vision-Language-Action Safety: Threats, Challenges, Evaluations, and Mechanisms
A literature survey that unifies fragmented work on attacks, defenses, evaluations, and deployment challenges for Vision-Language-Action models in robotics.