Achieving robust cross-embodiment generalization in imitation learning demands overcoming a critical representation flaw that inextricably entangles task semantics with hardware-specific visual geometry. We propose an interaction-centric framework that leverages the shared structure of two-finger grippers via a paramet...
Guan-Lin Li, Shi-Feng Bao, Yi-Han Zhao et al.· 0 citations
By integrating biological, engineering, and sustainability perspectives, this review provides a comprehensive framework for understanding the potential of filamentous algae to support resilient wastewater treatment systems and accelerate the transition toward circular resource management.
Songqi Yang, Li Cao, Chenyang Wei et al.· Microorganisms· 0 citations
ProcVLM is presented, a progress-aware vision-language model that learns procedure-grounded progress as a dense reward signal for manipulation and improves embodied procedural reasoning and yields more discriminative trajectory-internal progress estimates than representative baselines.
You-He Feng, Han Shi, Haoyang Li et al.· arXiv.org· 11 citations
Experiments show that joint pretraining on Ego2Robot-synthesized and robot data consistently improves out-of-distribution generalization across multiple perturbation types, with benefits validated on real-robot deployment.
Ye Wang, Peibin Lin, Xiong-Hui Chen et al.· 13 citations· ⚡1
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