1st Workshop on X-Embodiment Robot Learning

Accepted papers (35)

Fetched from OpenReview (v2) on 2026-06-10.

1. 3D-MVP: 3D Multiview Pretraining for Robotic Manipulation

   Shengyi Qian, Kaichun Mo, Valts Blukis, David Fouhey, Dieter Fox, Ankit Goyal · PDF

2. AHA: A Vision-Language-Model for Detecting and Reasoning Over Failures in Robotic Manipulation

   Jiafei Duan, Wilbert Pumacay, Nishanth Kumar, Yi Ru Wang, Shulin Tian, Wentao Yuan, Ranjay Krishna, Dieter Fox, Ajay Mandlekar, Yijie Guo · PDF

3. AnyCar to Anywhere: Learning Universal Dynamics Model for Agile and Adaptive Mobility

   Wenli Xiao, Haoru Xue, Tony Tao, Dvij Rajesh Kalaria, John Dolan, Guanya Shi · PDF

4. AnySkin: Plug-and-play Skin Sensing for Robotic Touch

   Raunaq Bhirangi, Venkatesh Pattabiraman, Mehmet Enes Erciyes, Yifeng Cao, Tess Hellebrekers, Lerrel Pinto · PDF

5. BAKU: An Efficient Transformer for Multi-Task Policy Learning

   Siddhant Haldar, Zhuoran Peng, Lerrel Pinto · PDF

6. Data Scaling Laws in Imitation Learning for Robotic Manipulation

   Yingdong Hu, Fanqi Lin, Pingyue Sheng, Chuan Wen, Jiacheng You, Yang Gao · PDF

7. DexHub and DART: Toward Internet Scale Robot Data Collection

   Younghyo Park, Jagdeep Singh Bhatia, Lars Lien Ankile, Pulkit Agrawal · PDF

8. DynaMem: Online Dynamic Spatio-Semantic Memory for Open World Mobile Manipulation

   Peiqi Liu, Zhanqiu Guo, Mohit Warke, Soumith Chintala, Chris Paxton, Nur Muhammad Mahi Shafiullah, Lerrel Pinto · PDF

9. Early Fusion Helps Vision Language Action Models Generalize Better

   Huang Huang, Fangchen Liu, Letian Fu, Tingfan Wu, Mustafa Mukadam, Jitendra Malik, Ken Goldberg, Pieter Abbeel · PDF

10. EgoMimic: Scaling Imitation Learning via Egocentric Video

    Simar Kareer, Dhruv Patel, Ryan Punamiya, Pranay Mathur, Shuo Cheng, Chen Wang, Judy Hoffman, Danfei Xu · PDF

11. ET-SEED: EFFICIENT TRAJECTORY-LEVEL SE(3) EQUIVARIANT DIFFUSION POLICY

    Chenrui Tie, Yue Chen, Ruihai Wu, Boxuan Dong, Zeyi Li, Chongkai Gao, Hao Dong · PDF

12. FLaRe: Achieving Masterful and Adaptive Robot Policies with Large-Scale Reinforcement Learning Fine-Tuning

    Jiaheng Hu, Rose Hendrix, Ali Farhadi, Aniruddha Kembhavi, Roberto Martín-Martín, Peter Stone, Kuo-Hao Zeng, Kiana Ehsani · PDF

13. FLIP: Flow-Centric Generative Planning for General-Purpose Manipulation Tasks

    Chongkai Gao, Haozhuo Zhang, Zhixuan Xu, Cai Zhehao, Lin Shao · PDF

14. Flow as the Cross-Domain Manipulation Interface

    Mengda Xu, Zhenjia Xu, Yinghao Xu, Cheng Chi, Gordon Wetzstein, Manuela Veloso, Shuran Song · PDF

15. Gen2Act: Human Video Generation in Novel Scenarios enables Generalizable Robot Manipulation

    Homanga Bharadhwaj, Debidatta Dwibedi, Abhinav Gupta, Shubham Tulsiani, Carl Doersch, Ted Xiao, Dhruv Shah, Fei Xia, Dorsa Sadigh, Sean Kirmani · PDF

16. HAMSTER: Hierarchical Action Models for Open-World Robot Manipulation

    Yi Li, Yuquan Deng, Jesse Zhang, Joel Jang, Marius Memmel, Caelan Reed Garrett, Fabio Ramos, Dieter Fox, Anqi Li, Abhishek Gupta, Ankit Goyal · PDF

17. In-Context Imitation Learning via Next-Token Prediction

    Letian Fu, Huang Huang, Gaurav Datta, Lawrence Yunliang Chen, William Chung-Ho Panitch, Fangchen Liu, Hui Li, Ken Goldberg · PDF

18. Instant Policy: In-Context Imitation Learning via Graph Diffusion

    Vitalis Vosylius, Edward Johns · PDF

19. Latent Action Pretraining From Videos

    Seonghyeon Ye, Joel Jang, Byeongguk Jeon, Se June Joo, Jianwei Yang, Baolin Peng, Ajay Mandlekar, Reuben Tan, Yu-Wei Chao, Bill Yuchen Lin, Lars Liden, Kimin Lee, Jianfeng Gao, Luke Zettlemoyer, Dieter Fox, Minjoon Seo · PDF

20. Learning Precise, Contact-Rich Manipulation through Uncalibrated Tactile Skins

    Venkatesh Pattabiraman, Yifeng Cao, Siddhant Haldar, Lerrel Pinto, Raunaq Bhirangi · PDF

21. Learning to Transfer Human Hand Skills for Robot Manipulations

    Sungjae Park, Seungho Lee, Mingi Choi, Jiye Lee, Jeonghwan Kim, Jisoo Kim, Hanbyul Joo · PDF

22. MotionGlot: A Multi-Embodied Motion Generation Model

    Sudarshan Sunil Harithas, Srinath Sridhar · PDF

23. One-Shot Imitation under Mismatched Execution

    Kushal Kedia, Prithwish Dan, Angela Chao, Maximus Adrian Pace, Sanjiban Choudhury · PDF

24. OPEN TEACH: A Versatile Teleoperation System for Robotic Manipulation

    Aadhithya Iyer, Zhuoran Peng, Yinlong Dai, Irmak Guzey, Siddhant Haldar, Soumith Chintala, Lerrel Pinto · PDF

25. R+X: Retrieval and Execution from Everyday Human Videos

    Georgios Papagiannis, Norman Di Palo, Pietro Vitiello, Edward Johns · PDF

26. ReMix: Optimizing Data Mixtures for Large Scale Imitation Learning

    Joey Hejna, Chethan Anand Bhateja, Karl Pertsch, Dorsa Sadigh · PDF

27. Robo-DM: Efficient Robot Big Data Management

    Kaiyuan Chen, Letian Fu, Siyuan Fu, Lawrence Yunliang Chen, Huang Huang, Kush Hari, Ashwin Balakrishna, Pannag R Sanketi, John Kubiatowicz, Ken Goldberg · PDF

28. Robot Utility Models: General Policies for Zero-Shot Deployment in New Environments

    Haritheja Etukuru, Norihito Naka, Zijin Hu, Seungjae Lee, Chris Paxton, Soumith Chintala, Lerrel Pinto, Nur Muhammad Mahi Shafiullah · PDF

29. RoVi-Aug: Robot and Viewpoint Augmentation for Cross-Embodiment Robot Learning

    Lawrence Yunliang Chen, Chenfeng Xu, Karthik Dharmarajan, Muhammad Zubair Irshad, Richard Cheng, Kurt Keutzer, Masayoshi Tomizuka, Quan Vuong, Ken Goldberg · PDF

30. RT-Affordance: Affordances are Versatile Intermediate Representations for Robot Manipulation

    Soroush Nasiriany, Sean Kirmani, Tianli Ding, Laura Smith, Yuke Zhu, Danny Driess, Dorsa Sadigh, Ted Xiao · PDF

31. STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning

    Marius Memmel, Jacob Berg, Bingqing Chen, Abhishek Gupta, Jonathan Francis · PDF

32. Track2Act: Predicting Point Tracks from Internet Videos enables Generalizable Robot Manipulation

    Homanga Bharadhwaj, Roozbeh Mottaghi, Abhinav Gupta, Shubham Tulsiani · PDF

33. UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers

    Huy Ha, Yihuai Gao, Zipeng Fu, Jie Tan, Shuran Song · PDF

34. View-Invariant Policy Learning via Zero-Shot Novel View Synthesis

    Stephen Tian, Blake Wulfe, Kyle Sargent, Katherine Liu, Sergey Zakharov, Vitor Campagnolo Guizilini, Jiajun Wu · PDF

35. Vision-based Manipulation from Single Human Video with Open-World Object Graphs

    Yifeng Zhu, Arisrei Lim, Peter Stone, Yuke Zhu · PDF