6 papers indexed
Wenhao Li, Xueying Jiang, Quanhao Qian, Deli Zhao, Ran Xu, Shijian Lu, et al.
Despite rapid progress, most existing vision-language models (VLMs) built from 2D visual inputs often struggle when handling various 3D tasks that require fine-grained spatial understanding and reasoning. To bridge this gap, we present VLM-IE3D, a unified framework that enhances…
Kehan Li, Bohan Hou, Minghao Zhu, Tianyi Zhang, Zesen Cheng, Zhikai Wang, et al.
We present RynnBrain 1.1, a family of embodied foundation models spanning 2B, 9B, and 122B-A10B scales. Trained with a unified spatio-temporal and physically grounded framework, RynnBrain 1.1 supports embodied perception, spatial reasoning, localization, and planning. Compared wi…
Guoyang Zhao, Quanhao Qian, Gongjie Zhang, Wenhao Li, Jiuniu Wang, Xiaowei Lu, et al.
Proprioception is fundamental to robotic manipulation, yet standard fusion methods often treat it as an isolated vector lacking explicit alignment with visual tokens. Without a direct correspondence between 3D kinematics and 2D feature maps, manipulation policies struggle to grou…
Haoyu Zhao, Xingyue Zhao, Siteng Huang, Xin Li, Deli Zhao, Zhongyu Li
Robotic manipulation in the open world requires not only recognizing what a scene looks like, but also anticipating how its 3D structure moves under interaction. We argue that synchronized RGB, depth, and optical flow, namely RGB-DF, provide a physically grounded representation t…
Haoyu Zhao, Xingyue Zhao, Hangyu Li, Biao Gong, Kehan Li, Siteng Huang, et al.
Scaling robot learning requires massive, diverse trajectory data, yet collection is currently bottlenecked by physical teleoperation, where every demonstration binds operator time to specific hardware and workspaces. We introduce digital teleoperation, a paradigm that decouples d…
Wenhao Li, Xueying Jiang, Quanhao Qian, Deli Zhao, Shijian Lu, Gongjie Zhang, et al.
Real-world robot deployment rarely maintains the training-stage camera setup, where cameras often experience repositioning or remounting depending on actual scenarios. Existing view-robust Vision-Language-Action (VLA) policies tolerate such camera variations only when the camera…