LM-X: Explainable Action Modeling with Progress, Event, and Uncertainty Prediction for Generalist Robot Manipulation
Jin Lou, Zhi Jing, A. Chen et al.
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RoboCousin: Build Your Own Simulation Playground for Robust Bimanual Robotic Manipulation
Simulation and real-robot experiments show that the automatically generated interaction annotations are comparable to curated annotations, generated assets provide effective sim-to-real supervision, and tabletop cousins can improve transfer beyond training on a single reconstructed scene.
Jingbo Zhu, Jing-Yuan Li, Liang-Liang Chen et al.
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LM-X: Explainable Vision--Language--Action Modeling via Progress, Event, and Uncertainty Prediction
LM-X is introduced, which organizes prediction across task, event, and motor scales without claiming anatomical correspondence and shows that explicit multi-timescale predictive state can strengthen control while exposing interpretable internal estimates.
Jin Lou, Zhi Jing, Xu-Peng Wang et al.
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