Research
AnyCar to Anywhere: Learning Universal Dynamics Model
AnyCar is a generalist vehicle dynamics model for agile mobility. It can adapt to various cars, tasks, and envs via in-context adaptation, outperforming well-tuned generalist models up to 54%.
Wenli Xiao*, Haoru Xue*, Tony Tao, Dvij Kalaria, John Dolan, Guanya Shi
HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots
HOVER is a 1.5M-parameter neural network to control the body of a humanoid robot. It takes a lot of subconscious processing for us humans to walk, maintain balance, and maneuver our arms and legs into desired positions. We capture this 'subconsciousness' in HOVER, a single model that learns how to coordinate the motors of a humanoid robot to support locomotion and manipulation.
Tairan He*, Wenli Xiao*, Toru Lin, Zhengyi Luo, Zhengjia Xu, Zhenyu Jiang, Jan Kautz, Changliu Liu, Guanya Shi, Xiaolong Wang, Linxi 'Jim' Fan†, Yuke Zhu†
Self-Improving Vision-Language-Action Models with Data Generation via Residual RL
PLD (Probe, Learn, Distill) is a plug-and-play recipe for Vision-Language-Action (VLA) post-training. It is model agnostic, supporting both autoregressive and diffusion architectures, and can push success rates to 99%.
Wenli Xiao*, Haotian Lin*, Andy Peng, Haoru Xue, Tairan He, Yuqi Xie, Fengyuan Hu, Jimmy Wu, Zhengyi Luo, Linxi "Jim" Fan†, Guanya Shi, Yuke Zhu†
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