Author

Chen Cheng

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Preprint Aug 2026

GigaBrain-0.7: Scaling Embodied Foundation Models to Emergent Capabilities with a Three-System Architecture

This work presents GigaBrain-0.7, an embodied foundation model with substantially improved generalization across diverse robot embodiments, and introduces one-stage alignment training that jointly optimizes vision-language understanding and multi-embodiment action generation.

GigaBrain Team, An-Gen Ye, Axiang Sun et al. · 7 citations · ⚡1

Preprint Jun 2026

STAIF: A Stage-wise Optimization for Complex Instruction Following

Following complex instructions with multiple explicit constraints remains a fundamental challenge for large language models (LLMs). Existing alignment methods, such as DPO, optimize holistic reward signals that often underemphasize strict satisfaction of individual constraints, particularly under out-of-distribution or...

Jiangli Hong, Chen Cheng, Quan Liu et al. · 0 citations