Natural face-to-face human--robot interaction requires a robot to understand an evolving social situation, decide when to engage, and express its intent through coordinated physical behavior. Yet existing approaches rarely close this loop: foundation-model agents provide increasingly capable multimodal reasoning and me...
Zi-Yu Cheng, Yue-Wen Guo, Zhi-Rui Liu et al.· 0 citations
Adapting robot manipulation policies to new tasks and environments remains highly data-intensive, while the data needed for further improvement depends on the policy's current capabilities and failure modes. We introduce EmbodiRSI, an agentic system for recursive self-improvement (RSI) in a real-to-sim-to-real setting,...
Hao-Ran Lang, Hao-Tao Lu, Shi-Yu Sang et al.· 3 citations
SelfWAM is introduced, a unified self-grounded WAM built on a modality-specialized Mixture-of-Transformers (MoT) architecture that jointly predicts actions, action-conditioned future RGB frames, and robot self-masks, thereby grounding future prediction in the robot's visible body and its action-induced motion.
Bikang Pan, Fan Liu, Haotao Lu et al.· 5 citations
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