Research
Research
Research
Research
177+ open-access research outputs.
This work demonstrates a front-flip on bicycle robots via reinforcement learning, particularly by imitating reference motions that are infeasible and imperfect. To address this, we propose Iterative M…
Whole-body humanoid teleoperation enables humans to remotely control humanoid robots, serving as both a real-time operational tool and a scalable engine for collecting demonstrations for autonomous le…
We introduce $\Psi_0$ (Psi-Zero), an open foundation model to address challenging humanoid loco-manipulation tasks. While existing approaches often attempt to address this fundamental problem by co-tr…
Embodied intelligence is a key step towards Artificial General Intelligence (AGI), yet its development faces multiple challenges including data, frameworks, infrastructure, and evaluation systems. To …
Conventionally, memory in end-to-end robotic learning involves inputting a sequence of past observations into the learned policy. However, in complex multi-stage real-world tasks, the robot's memory m…
A common approach to compute distances on continuous surfaces is by considering a discretized polygonal mesh approximating the surface and estimating distances on the polygon. We show that exact geode…
Vision-Language-Action (VLA) models have shown strong performance in robotic manipulation, but often struggle in long-horizon or out-of-distribution scenarios due to the lack of explicit mechanisms fo…
Data-driven neural Koopman operator theory has emerged as a powerful tool for linearizing and controlling nonlinear robotic systems. However, the performance of these data-driven models fundamentally …
Human behavior is among the most scalable sources of data for learning physical intelligence, yet how to effectively leverage it for dexterous manipulation remains unclear. While prior work demonstrat…
Ultra-low-density elastomeric foams enable lightweight systems that combine high compliance with efficient energy return. In high-performance racing shoes, these foams are critical for low weight, hig…
In this report, we introduce Xiaomi-Robotics-0, an advanced vision-language-action (VLA) model optimized for high performance and fast and smooth real-time execution. The key to our method lies in a c…
A long-standing goal in robotics is a generalist policy that can be deployed zero-shot on new robot embodiments without per-embodiment adaptation. Despite large-scale multi-embodiment pre-training, ex…
Pretraining Vision-Language-Action (VLA) policies on internet-scale video is appealing, yet current latent-action objectives often learn the wrong thing: they remain anchored to pixel variation rather…
While Vision-Language-Action (VLA) models show strong promise for generalist robot control, it remains unclear whether -- and under what conditions -- the standard "scale data" recipe translates to ro…
Situated embodied conversation requires robots to interleave real-time dialogue with active perception: deciding what to look at, when to look, and what to say under tight latency constraints. We pres…
Vision-Language-Action (VLA) models hold promise for generalist robotics but currently struggle with data scarcity, architectural inefficiencies, and the inability to generalize across different hardw…
Food choices shape both human and planetary health; yet, designing foods that are delicious, nutritious, and sustainable remains challenging. Here we show that generative artificial intelligence can l…
We introduce Being-H0.5, a foundational Vision-Language-Action (VLA) model designed for robust cross-embodiment generalization across diverse robotic platforms. While existing VLAs often struggle with…
Scientific and engineering verticals often suffer from data scarcity and strict executability requirements: models must generate not only fluent text, but also syntactically valid, tool-compilable scr…
To teach robots complex manipulation tasks, it is now a common practice to fine-tune a pre-trained vision-language-action model (VLA) on task-specific data. However, since this recipe updates existing…
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