Preprint

Learning Soccer Skills for Humanoid Robots: A Progressive Perception-Action Framework
arXiv preprint
Perception-Action integrated Decision-making (PAiD), a progressive framework for humanoid soccer skills.
Jipeng Kong , Xinzhe Liu , Yuhang Lin , Jinrui Han , Sören Schwertfeger , Chenjia Bai✉ , Xuelong Li
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Learning Soccer Skills for Humanoid Robots: A Progressive Perception-Action Framework
TextOp: Real-time Interactive Text-Driven Humanoid Robot Motion Generation and Control
arXiv
Real-time text-driven humanoid motion generation and control using a two-level diffusion-and-tracking architecture (TextOp).
Weiji Xie , Jiakun Zheng , Jinrui Han , Jiyuan Shi , Weinan Zhang✉ , Chenjia Bai✉ , Xuelong Li
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TextOp: Real-time Interactive Text-Driven Humanoid Robot Motion Generation and Control
Pro-HOI: Perceptive Root-guided Humanoid-Object Interaction
arXiv preprint
We introduce Pro-HOI, a generalizable framework for robust humanoid loco-manipulation via perceptive root-guided control.
Yuhang Lin , Jiyuan Shi , Dewei Wang , Jipeng Kong , Yong Liu , Chenjia Bai✉ , Xuelong Li
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Pro-HOI: Perceptive Root-guided Humanoid-Object Interaction
DeCoNav: Dialog enhanced Long-Horizon Collaborative Vision-Language Navigation
arXiv preprint
DeCoNav introduces event-triggered dialogue and dynamic replanning to improve long-horizon collaborative VLN in synchronized multi-robot settings.
Sunyao Zhou , Yunzi Wu , Tianhang Wang , Xinhai Li , Guang Chen , Lizheng Liu , Chenjia Bai , Xuelong Li
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DeCoNav: Dialog enhanced Long-Horizon Collaborative Vision-Language Navigation
AssemLM: Spatial Reasoning Multimodal Large Language Models for Robotic Assembly
arXiv preprint
AssemLM introduces a spatial multimodal LLM and AssemBench to advance 3D reasoning and 6D pose prediction for robotic assembly.
Zhi Jing , Jinbin Qiao , Ouyang Lu , Jicong Ao , Shuang Qiu , Yu-Gang Jiang , Chenjia Bai✉
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AssemLM: Spatial Reasoning Multimodal Large Language Models for Robotic Assembly
UMI-Bench 1.0: An Open and Reproducible Real-World Benchmark for Tabletop Robotic Manipulation with UMI Data
arXiv preprint
UMI-Bench 1.0 provides an open, reproducible real-world benchmark for standardized evaluation of UMI-style tabletop manipulation policies.
Shi Jin , Yuntian Wang , Yuhui Duan , Di Wu , Gaoqi Dong , Xiaohang Liu , Xiaotong Li , Hongfei Jia , Zehao Zhang , Tianyu Wang , Zhongjie Jia , Yuanqi Yao , Chenjia Bai , Zhaxizhuoma✉ , Siao Liu✉ , Nieqing Cao , Jin Wang , Chao Yu , Yan Ding
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UMI-Bench 1.0: An Open and Reproducible Real-World Benchmark for Tabletop Robotic Manipulation with UMI Data
OASIS: From Simulation Data Collection to Real-World Humanoid Loco-Manipulation
arXiv preprint
OASIS scales humanoid loco-manipulation data collection in simulation and transfers a hierarchical visuomotor policy zero-shot to a real Unitree G1.
Zehao Yu , Jiakun Zheng , Weiji Xie , Jiyuan Shi , Chenyun Zhang , Chenjia Bai✉ , Xuelong Li
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OASIS: From Simulation Data Collection to Real-World Humanoid Loco-Manipulation
SpaceVLN: A Zero-Shot Vision-and-Language Navigation Agent with Online Spatial Cognitive Memory and Reasoning
arXiv preprint
SpaceVLN introduces online Spatial Cognitive Memory and Task-Guided Spatial Reasoning for unified zero-shot VLN and Object-Goal Navigation.
Yucheng Deng , Pingrui Lai , Xinhai Li , Chenjia Bai , Xiaoheng Deng , Chengnuo Sun , Xuelong Li✉ , Hua Yang✉
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SpaceVLN: A Zero-Shot Vision-and-Language Navigation Agent with Online Spatial Cognitive Memory and Reasoning
VISTA: Vision-Grounded and Physics-Validated Adaptation of UMI Data for VLA Training
arXiv preprint
VISTA aligns UMI fisheye perception and physically validates trajectories to improve VLA training across simulation and real-world manipulation.
Siyuan Yang , Linzheng Guo , Ouyang Lu , Zhaxizhuoma , Daoran Zhang , Xinmiao Wang , Ting Xiao , Fangzheng Yan , Zhijun Chen , Yan Ding , Chao Yu✉ , Chenjia Bai✉ , Xuelong Li✉
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VISTA: Vision-Grounded and Physics-Validated Adaptation of UMI Data for VLA Training
GN0: Toward a Unified Paradigm for Generation, Evaluation, and Policy Learning in Visual-Language Navigation
arXiv preprint
GN0 unifies GN-Matrix data generation, the high-fidelity GN-Bench simulator, and the RL-driven GN-BAE foundation model for map-based and map-free visual-language navigation.
Xinhai Li , Xiaotao Zhang , Yuehao Huang , Jiankun Dong , Tianhang Wang , Sunyao Zhou , Yunzi Wu , Chengnuo Sun , Yunfei Ge , Qizhen Weng , Chi Zhang , Chenjia Bai✉ , Xuelong Li✉
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GN0: Toward a Unified Paradigm for Generation, Evaluation, and Policy Learning in Visual-Language Navigation