arXiv subjects

Huaping Liu

Publications and source records attributed to Huaping Liu.

At least 19 recordsLinked to original sources

arXiv2026

Xiaomi-Robotics-U0: Unified Embodied Synthesis with World Foundation Model

Recent foundation image and video generation models offer strong generalization and controllability, but their direct application to embodied scenarios is limited by requirements for multi-view consistency, geometric coherence, and robot embodiment constraints. Existing methods typically adapt foundation models with limited robot data, often sacrificing visual knowledge acquired during large-scale pre-training. We present Xiaomi-Robotics-U0, a 38-billion-parameter multimodal autoregressive model for unified embodied synthesis. It treats embodied generation as an extension of foundation image and video generation and jointly optimizes text-to-image generation, image editing, embodied scene generation, embodied transfer, and embodied video generation. This unified framework preserves the generalization of the pre-trained world foundation model while adapting it to embodied settings. Xiaomi-Robotics-U0 is the first model to support high-quality multi-view scene generation across multiple robot embodiments and to introduce structured, controllable embodied transfer for fine-grained editing while preserving multi-view consistency and interaction dynamics. It achieves state-of-the-art results on single-step and sequential generation tasks, outperforming GPT-Image-2.0 in human evaluations of embodied scene generation and transfer, ranking first on World Arena for embodied video generation, and improving the out-of-distribution success rate of pi_0.5 from 36.9% to 63.2% on challenging real-world manipulation tasks. These results show that foundation world models can serve both as embodied world models and scalable data engines for embodied intelligence. Code and checkpoints are available at https://robotics.xiaomi.com/xiaomi-robotics-u0.html.

cs.RO↗

arXiv2026

LLM Agents for Deliberative Collaboration: A Study on Joint Decision Making Under Partial Observability

Deliberation plays a crucial role in collaboration; when humans work together, they naturally engage in communication to align information and reach an agreement. In this paper, we investigate deliberative large language model (LLM) agents under partially observable joint decision-making tasks. We formalize deliberative collaboration as a cooperative joint decision problem with partial and asymmetric observations, and introduce a scalable benchmark that instantiates this problem across multiple task settings and domains in which agents must exchange information through deliberation to reach a joint decision with a shared reward. We then instantiate a reference scaffold and evaluation protocol for deliberative agents and conduct a systematic evaluation of a range of representative LLMs. The results reveal that complex deliberative collaboration tasks continue to challenge state-of-the-art language models. Even with the aid of external mathematical tools, language models may fail in either the deliberation process for aligning information or the complex reasoning process for making the decision. On the other hand, diagnostic analysis reveals that the deliberation process may also provide opportunities for reflection and error correction, sometimes improving performance over centralized baselines. Altogether, our work establishes a foundation for evaluating and improving LLM agents in deliberative collaboration and provides insights into the strengths, limitations, and properties of current LLM-based multi-agent systems.

cs.CL↗

arXiv2026

DynFly: Dynamic-Aware Continuous Trajectory Generation for UAV Vision-Language Navigation in Urban Environments

Recent advances in multimodal large models have significantly improved UAV vision-language navigation (UAV-VLN) by enhancing high-level perception and reasoning. However, existing methods mainly focus on predicting discrete actions, local targets, or sparse waypoints, while the continuous transition from navigation intent to executable UAV motion remains weakly modeled. This motion-interface gap limits the continuity, stability, and executability of generated UAV trajectories. To address this gap, we propose DynFly, a dynamic-aware continuous trajectory generation framework that bridges high-level navigation reasoning and executable UAV motion. DynFly bridges high-level navigation intent and continuous UAV motion through a lightweight trajectory generation layer. Specifically, it represents expert trajectories in B-spline control-point space and employs a Spline-DiT generator to learn conditional trajectory generation via flow matching. Furthermore, we introduce UAV-oriented dynamic-aware supervision over position, finite-difference velocity, finite-difference acceleration, heading consistency, and local target alignment, enabling the generated trajectories to better satisfy UAV motion characteristics. And our trajectory generation framework can also be integrated with an existing UAV-VLN framework while preserving its original visual-language reasoning pipeline. Extensive experiments on the OpenUAV UAV-VLN benchmark show that DynFly improves both navigation performance and trajectory quality. On the Test Unseen Full split, DynFly improves the strongest baseline by 4.69 NDTW, 2.40 SDTW, 2.14 SR points and 4.87 OSR points, while reducing NE by 4.51 m.

cs.RO↗

arXiv2026

Local-GS: Accelerating 3D Gaussian Splatting via Tile-Local Warp Coherence

3D Gaussian Splatting (3DGS) has significantly advanced real-time novel view synthesis by representing scenes as dense collections of anisotropic 3D Gaussian primitives. However, the irregular spatial distribution of Gaussians often leads to poor GPU utilization, as warp divergence and redundant computation degrade rendering performance. To address this, we present Local-GS, a warp-coherent rendering paradigm that, organizes Gaussian primitives with respect to SIMT (Single Instruction, Multiple Threads) execution boundaries rather than scene geometry. Specifically, we propose three warp-coherent stages: a hoisting stage that precomputes shared parameters at tile level, a culling stage that discards warps with no contribution, and a blending stage that replaces per-pixel branching with a uniform instruction stream. Across extensive benchmarks on multiple datasets, Local-GS improves efficiency without compromising quality. As a plug-and-play optimization, it provides additional performance gains to all tested baselines, culminating in a $7.76\times$ speedup on Deep Blending scenes.

cs.CV↗

arXiv2026

Revisiting Embodied Chain-of-Thought for Generalizable Robot Manipulation

Embodied chain-of-thought (CoT) aims to bridge linguistic reasoning and robotic control, but its effective form and integration strategy remain underexplored. In this paper, we revisit embodied CoT for vision-language-action (VLA) models at large scale. We construct the largest embodied CoT corpus to date, comprising 978,743 trajectories, 226.3M samples, and 2592.5 hours of robot data. Through extensive experiments, we find that effective embodied CoT should ground high-level semantic understanding into concrete action guidance, such as end-effector movement descriptions and image-space trajectories, while high-level reasoning alone brings only marginal gains. We further show that explicit CoT does not scale reliably when used as an autoregressive action prefix, as it suffers from compounding inference errors and unstable reasoning-action coupling. To address these limitations, we propose ERVLA, a VLA model that uses embodied CoT as representation-shaping supervision rather than mandatory test-time reasoning. ERVLA is trained with a reasoning-dropout strategy, enabling the model to absorb rich reasoning traces during training while predicting actions directly without CoT decoding during inference. This design improves scalability with increasing pre-training data and avoids autoregressive instability. ERVLA achieves state-of-the-art performance on LIBERO-Plus with an 86.9% success rate and reaches 53.2% success rate on VLABench, demonstrating strong out-of-distribution generalization. In real-robot experiments, ERVLA further outperforms competitive state-of-the-art baselines, especially on tasks requiring semantic disambiguation and long-horizon execution.

cs.RO↗

arXiv2026

Ratio-Variance Regularized Policy Optimization

Standard on-policy reinforcement learning relies on heuristic clipping to enforce trust regions, but this mechanism imposes a severe cost by indiscriminately truncating high-return yet high-divergence updates. We demonstrate that explicitly constraining the policy ratio variance provides a principled local approximation to trust-region constraints, eliminating the need for binary hard clipping. By acting as a distributional ``soft brake'', this approach preserves critical gradient signals from novel discoveries while naturally down-weighting and enabling the reuse of stale, off-policy data. We introduce ${\bf R}^2{\bf VPO}$ (Ratio-Variance Regularized Policy Optimization), which implements this constraint via a primal-dual optimization framework. Extensive evaluations across $7$ LLM scales, spanning both fast and slow reasoning paradigms, and $10$ robotic control tasks demonstrate the generality of the proposed approach. R$^2$VPO achieves substantial performance gains on mathematical reasoning benchmarks, with particularly pronounced improvements on smaller models, while significantly improving sample efficiency. Furthermore, it consistently outperforms PPO baselines in continuous control domains, particularly in sparse-reward and dynamic environments. Together, these findings establish ratio-variance regularization as a principled foundation for stable and data-efficient policy optimization.

cs.LG↗

arXiv2026

MyoChallenge 2025: A New Benchmark for Human Athletic Intelligence

Athletic performance represents the pinnacle of human motor intelligence, demanding rapid choices, precise control, agility, and coordinated physical execution. Replicating this seamless combination of capabilities remains elusive in current artificial intelligence and robotic systems. Concurrently, understanding the biological mastery of these movements is hindered because complex muscle coordination is rarely measured in vivo due to the limitations of physical equipment. To bridge this fundamental gap in understanding, MyoChallenge at NeurIPS 2025 established a pioneering benchmark for motor control intelligence in sports, leveraging high-fidelity musculoskeletal models within physics simulation combined with machine learning-driven algorithms. The competition introduces two distinct tracks emphasizing either upper or lower limbs control: a table tennis rally task utilizing a biomechanic upper limb composed of an arm with a hand and a trunk; and a soccer penalty kick using a biomechanic model of legs and a trunk. Marking the fourth iteration of the MyoChallenge series, this event attracted almost 70 teams and over 560 submissions globally, uniting a diverse community ranging from physicians and neuroscientists to machine learning experts. The competition facilitated the development of several state-of-the-art control algorithms for a musculoskeletal system capable of sports agility, leveraging techniques such as physics-based motion planners, on-policy behaviour cloning, hierarchical planning, and muscle synergies. By integrating standardized tasks and physiologically realistic models into the open-source framework of MyoSuite, MyoChallenge'25 serves as a reproducible and reusable testbed to accelerate interdisciplinary research across machine learning, biomechanics, sports science, and neuroscience. Project page: https://www.myosuite.org//myochallenge/myochallenge-2025.

cs.RO↗

arXiv2026

Distributed Deep Variational Approach for Privacy-preserving Data Release

Federated learning (FL) lets distributed nodes train a shared model without exchanging their raw data, but in privacy-sensitive deployments medical sensors, IoT devices, wearables the protection offered by keeping data local is incomplete: gradients, model updates, and the released representations themselves can leak sensitive attributes. We propose the \emph{Gaussian Privacy Protector} (GPP), a data-release framework for continuous, high-dimensional inputs that learns a stochastic encoder mapping raw data to a low-dimensional sanitized representation. The encoder is trained against a variational lower bound on the mutual information between the released representation and a designated sensitive attribute, while a separate cross-entropy term preserves a designated utility attribute, with a Lagrange multiplier $\beta$ controlling the trade-off. We then extend GPP to the federated setting, in which each client trains a local encoder, sensitive labels never leave the client, and the aggregator receives only sanitized representations giving instance-level privacy protection in addition to the standard ``raw data stays local'' guarantee of FL. We evaluate GPP on MNIST (digit-sum utility, parity sensitive), CelebA (smiling vs.\ gender), and HAPT-Recognition (activity vs.\ subject identity). Across all three benchmarks, GPP attains utility within roughly one percentage point of an unconstrained autoencoder baseline while reducing the adversary's AUC to near random guessing.

cs.CR↗

arXiv2026

Unified 4D World Action Modeling from Video Priors with Asynchronous Denoising

We propose X-WAM, a Unified 4D World Model that unifies real-time robotic action execution and high-fidelity 4D world synthesis (video + 3D reconstruction) in a single framework, addressing the critical limitations of prior unified world models (e.g., UWM) that only model 2D pixel-space and fail to balance action efficiency and world modeling quality. To leverage the strong visual priors of pretrained video diffusion models, X-WAM imagines the future world by predicting multi-view RGB-D videos, and obtains spatial information efficiently through a lightweight structural adaptation: replicating the final few blocks of the pretrained Diffusion Transformer into a dedicated depth prediction branch for the reconstruction of future spatial information. Moreover, we propose Asynchronous Noise Sampling (ANS) to jointly optimize generation quality and action decoding efficiency. ANS applies a specialized asynchronous denoising schedule during inference, which rapidly decodes actions with fewer steps to enable efficient real-time execution, while dedicating the full sequence of steps to generate high-fidelity video. Rather than entirely decoupling the timesteps during training, ANS samples from their joint distribution to align with the inference distribution. Pretrained on over 5,800 hours of robotic data, X-WAM achieves 79.2% and 90.7% average success rate on RoboCasa and RoboTwin 2.0 benchmarks, while producing high-fidelity 4D reconstruction and generation surpassing existing methods in both visual and geometric metrics.

cs.RO↗

arXiv2026

Evolving the Complete Muscle: Efficient Morphology-Control Co-design for Musculoskeletal Locomotion

Musculoskeletal robots offer intrinsic compliance and flexibility, providing a promising paradigm for versatile locomotion. However, existing research typically relies on models with fixed muscle physiological parameters. This static physical setting fails to accommodate the diverse dynamic demands of complex tasks, inherently limiting the robot's performance upper bound. In this work, we focus on the morphology and control co-design of musculoskeletal systems. Unlike previous studies that optimize single physiological attributes such as stiffness, we introduce a Complete Musculoskeletal Morphological Evolution Space that simultaneously evolves muscle strength, velocity, and stiffness. To overcome the exponential expansion of the exploration space caused by this comprehensive evolution, we propose Spectral Design Evolution (SDE), a high-efficiency co-optimization framework. By integrating a bilateral symmetry prior with Principal Component Analysis (PCA), SDE projects complex muscle parameters onto a low-dimensional spectral manifold, enabling efficient morphological exploration. Evaluated on the MyoSuite framework across four tasks (Walk, Stair, Hilly, and Rough terrains), our method demonstrates superior learning efficiency and locomotion stability compared to fixed-morphology and standard evolutionary baselines.

cs.RO↗

arXiv2026

EvoGymCM: Harnessing Continuous Material Stiffness for Soft Robot Co-Design

In the automated co-design of soft robots, precisely adapting the material stiffness field to task environments is crucial for unlocking their full physical potential. However, mainstream platforms (e.g., EvoGym) strictly discretize the material dimension, artificially restricting the design space and performance of soft robots. To address this, we propose EvoGymCM (EvoGym with Continuous Materials), a benchmark suite formally establishing continuous material stiffness as a first-class design variable alongside morphology and control. Aligning with real-world material mechanisms, EvoGymCM introduces two settings: (i) EvoGymCM-R (Reactive), motivated by programmable materials with dynamically tunable stiffness; and (ii) EvoGymCM-I (Invariant), motivated by traditional materials with invariant stiffness fields. To tackle the resulting high-dimensional coupling, we formulate two Morphology-Material-Control co-design paradigms: (i) Reactive-Material Co-Design, which learns real-time stiffness tuning policies to guide programmable materials; and (ii) Invariant-Material Co-Design, which jointly optimizes morphology and fixed material fields to guide traditional material fabrication. Systematic experiments across diverse tasks demonstrate that continuous material optimization boosts performance and unlocks synergy across morphology, material, and control.

cs.RO↗

arXiv2026

SpatialFly: Implicit 3D Prior-Guided Visual Reparameterization for Continuous UAV Vision-and-Language Navigation

UAVs play an important role in applications such as autonomous exploration, disaster response, and infrastructure inspection. However, UAV VLN in complex 3D environments remains challenging. A key difficulty is the structural representation mismatch between 2D visual perception and the 3D trajectory decision space, which limits spatial reasoning. To this end, we propose SpatialFly, a geometry-guided spatial representation framework for UAV VLN. Operating on RGB observations without explicit 3D reconstruction, SpatialFly introduces a geometry-guided 2D adaptive representation mechanism. Specifically, the geometric prior injection module injects global structural cues into 2D semantic tokens to provide scene-level geometric guidance. The geometry-aware reparameterization module then uses geometry-conditioned cross-modal attention and gated residual fusion to adaptively reparameterize the visual tokens. Experimental results show that SpatialFly consistently outperforms state-of-the-art UAV VLN baselines across both seen and unseen environments, reducing NE by 4.03m and improving SR by 1.27% over the strongest baseline on the unseen Full split. Additional trajectory-level analysis shows that SpatialFly produces trajectories with better path alignment and smoother, more stable motion.

cs.CV↗

arXiv2026

Diff-Muscle: Efficient Learning for Musculoskeletal Robotic Table Tennis

Musculoskeletal robots provide superior advantages in flexibility and dexterity, positioning them as a promising frontier towards embodied intelligence. However, current research is largely confined to relative simple tasks, restricting the exploration of their full potential in multi-segment coordination. Furthermore, efficient learning remains a challenge, primarily due to the high-dimensional action space and inherent overactuated structures. To address these challenges, we propose Diff-Muscle, a musculoskeletal robot control algorithm that leverages differential flatness to reformulate policy learning from the redundant muscle-activation space into a significantly lower-dimensional joint space. Furthermore, we utilize the highly dynamic robotic table tennis task to evaluate our algorithm. Specifically, we propose a hierarchical reinforcement learning framework that integrates a Kinematics-based Muscle Actuation Controller (K-MAC) with high-level trajectory planning, enabling a musculoskeletal robot to perform dexterous and precise rallies. Experimental results demonstrate that Diff-Muscle significantly outperforms state-of-the-art baselines in success rates while maintaining minimal muscle activation. Notably, the proposed framework successfully enables the musculoskeletal robots to achieve continuous rallies in a challenging dual-robot setting.

cs.RO↗

arXiv2026

Scaling World Model for Hierarchical Manipulation Policies

Vision-Language-Action (VLA) models are promising for generalist robot manipulation but remain brittle in out-of-distribution (OOD) settings, especially with limited real-robot data. To resolve the generalization bottleneck, we introduce a hierarchical Vision-Language-Action framework \our{} that leverages the generalization of large-scale pre-trained world model for robust and generalizable VIsual Subgoal TAsk decomposition VISTA. Our hierarchical framework \our{} consists of a world model as the high-level planner and a VLA as the low-level executor. The high-level world model first divides manipulation tasks into subtask sequences with goal images, and the low-level policy follows the textual and visual guidance to generate action sequences. Compared to raw textual goal specification, these synthesized goal images provide visually and physically grounded details for low-level policies, making it feasible to generalize across unseen objects and novel scenarios. We validate both visual goal synthesis and our hierarchical VLA policies in massive out-of-distribution scenarios, and the performance of the same-structured VLA in novel scenarios could boost from 14% to 69% with the guidance generated by the world model. Results demonstrate that our method outperforms previous baselines with a clear margin, particularly in out-of-distribution scenarios. Project page: \href{https://vista-wm.github.io/}{https://vista-wm.github.io}

cs.RO↗

arXiv2026

Towards Next-Generation SLAM: A Survey on 3DGS-SLAM Focusing on Performance, Robustness, and Future Directions

Traditional Simultaneous Localization and Mapping (SLAM) systems often face limitations including coarse rendering quality, insufficient recovery of scene details, and poor robustness in dynamic environments. 3D Gaussian Splatting (3DGS), with its efficient explicit representation and high-quality rendering capabilities, offers a new reconstruction paradigm for SLAM. This survey comprehensively reviews key technical approaches for integrating 3DGS with SLAM. We analyze performance optimization of representative methods across four critical dimensions: rendering quality, tracking accuracy, reconstruction speed, and memory consumption, delving into their design principles and breakthroughs. Furthermore, we examine methods for enhancing the robustness of 3DGS-SLAM in complex environments such as motion blur and dynamic environments. Finally, we discuss future challenges and development trends in this area. This survey aims to provide a technical reference for researchers and foster the development of next-generation SLAM systems characterized by high fidelity, efficiency, and robustness.

cs.RO↗

arXiv2026

UV-M3TL: A Unified and Versatile Multimodal Multi-Task Learning Framework for Assistive Driving Perception

Advanced Driver Assistance Systems (ADAS) need to understand human driver behavior while perceiving their navigation context, but jointly learning these heterogeneous tasks would cause inter-task negative transfer and impair system performance. Here, we propose a Unified and Versatile Multimodal Multi-Task Learning (UV-M3TL) framework to simultaneously recognize driver behavior, driver emotion, vehicle behavior, and traffic context, while mitigating inter-task negative transfer. Our framework incorporates two core components: dual-branch spatial channel multimodal embedding (DB-SCME) and adaptive feature-decoupled multi-task loss (AFD-Loss). DB-SCME enhances cross-task knowledge transfer while mitigating task conflicts by employing a dual-branch structure to explicitly model salient task-shared and task-specific features. AFD-Loss improves the stability of joint optimization while guiding the model to learn diverse multi-task representations by introducing an adaptive weighting mechanism based on learning dynamics and feature decoupling constraints. We evaluate our method on the AIDE dataset, and the experimental results demonstrate that UV-M3TL achieves state-of-the-art performance across all four tasks. To further prove the versatility, we evaluate UV-M3TL on additional public multi-task perception benchmarks (BDD100K, CityScapes, NYUD-v2, and PASCAL-Context), where it consistently delivers strong performance across diverse task combinations, attaining state-of-the-art results on most tasks.

cs.CV↗

arXiv2026

An Ion-Intercalation Memristor for Enabling Full Parallel Writing in Crossbar Networks

Crossbar architectures have long been seen as a promising foundation for in-memory computing, using memristor arrays for high-density, energy-efficient analog computation. However, this conventional architecture suffers from a fundamental limitation: the inability to perform parallel write operations due to the sneak path problem. This arises from the structural overlap of read and write paths, forcing sequential or semi-parallel updates and severely limiting scalability. To address this, we introduce a new memristor design that decouples read and write operations at the device level. This design enables orthogonal conductive paths, and employs a reversible ion doping mechanism, inspired by lithium-ion battery principles, to modulate resistance states independently of computation. Fabricated devices exhibit near-ideal memristive characteristics and stable performance under isolated read/write conditions.

eess.SY↗

arXiv2026

Towards Efficient 3D Object Detection for Vehicle-Infrastructure Collaboration via Risk-Intent Selection

Vehicle-Infrastructure Collaborative Perception (VICP) is pivotal for resolving occlusion in autonomous driving, yet the trade-off between communication bandwidth and feature redundancy remains a critical bottleneck. While intermediate fusion mitigates data volume compared to raw sharing, existing frameworks typically rely on spatial compression or static confidence maps, which inefficiently transmit spatially redundant features from non-critical background regions. To address this, we propose Risk-intent Selective detection (RiSe), an interaction-aware framework that shifts the paradigm from identifying visible regions to prioritizing risk-critical ones. Specifically, we introduce a Potential Field-Trajectory Correlation Model (PTCM) grounded in potential field theory to quantitatively assess kinematic risks. Complementing this, an Intention-Driven Area Prediction Module (IDAPM) leverages ego-motion priors to proactively predict and filter key Bird's-Eye-View (BEV) areas essential for decision-making. By integrating these components, RiSe implements a semantic-selective fusion scheme that transmits high-fidelity features only from high-interaction regions, effectively acting as a feature denoiser. Extensive experiments on the DeepAccident dataset demonstrate that our method reduces communication volume to 0.71\% of full feature sharing while maintaining state-of-the-art detection accuracy, establishing a competitive Pareto frontier between bandwidth efficiency and perception performance.

cs.CV↗