Author

Hangjun Ye

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Preprint Aug 2026

One Policy, Many Embodiments: Unified Camera-Centric Action Geometry Pre-training for Heterogeneous Embodied Manipulation

UCAG-P is introduced, a camera-centric unified action formulation that structurally aligns heterogeneous embodied datasets into a shared geometric action space, and allows a shared VLA policy to learn transferable manipulation geometry while retaining embodiment-specific controllability.

Xiaomi Embodied Intelligence Team, University of Macau Shaoqing Xu, Fang Li et al. · 0 citations

Preprint Aug 2026

SpatioLM: Towards General Physical Spatial Intelligence in Vision-Language Models

This work designs a plug-and-play and non-invasive spatio-vision module that elicits the spatial knowledge inherent in VLMs and innovatively leverage pseudo depth and camera information as supervision to guide the model in learning physically coherent representations.

Jing Wu, Jianhua Wu, Jiayi Guan et al. · 0 citations

Jul 2026

Xiaomi-Robotics-1: Scaling Vision-Language-Action Models with over 100K Hours of Real-World Trajectories

Xiao-Robotics-1 serves as a strong robot foundation policy that can be efficiently fine-tuned on complex, dexterous tasks with high data efficiency and across multiple simulation benchmarks, Xiaomi-Robotics-1 outperforms state-of-the-art methods.

Xiaomin Guo, Piao-Piao Jin, Jason Li et al. · arXiv.org · 16 citations · ⚡2