Author

Ke-Cheng Zheng

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Preprint Oct 2026

BiDex-100: A Comprehensive Benchmark for Bimanual Dexterous Manipulation Across 100+ Simulation Tasks

Bimanual manipulation with dexterous hands has attracted growing attention in research on robotic action models. However, few studies have developed benchmarks specifically tailored for dexterous manipulation, leaving the dexterous manipulation capabilities of existing models insufficiently characterized. In this paper...

Yong Wang, Ke-Cheng Zheng, Xing Zhu et al. · 1 citation

Preprint Jul 2026

Vision Pretraining for Dense Spatial Perception

This work proposes masked boundary modeling, a self-supervised paradigm that dynamically learns sub-pixel boundary representations and subsequently leverages the discovered boundary-bearing tokens as masked targets to facilitate dense visual token learning.

Zelin Fu, Bin Tan, Chang Sun et al. · 3 citations · ⚡2

Preprint Jul 2026

Scaling Mixture-of-Experts Video Pretraining for Embodied Intelligence

LingBot-Video is presented, a DiT-based video pretraining paradigm specifically tailored for embodied intelligence, and is contributed as the inaugural large-scale, open-source MoE video foundation model to the community, in a pioneering effort to bridge digital creativity and physical actuation.

Shuailei Ma, Jiaqi Liao, Xinyang Wang et al. · 7 citations · ⚡1