arXiv subjects

Zhenhao Shen

Publications and source records attributed to Zhenhao Shen.

6 recordsLinked to original sources

arXiv2026

OpenWAM: An Open, Modular Exploration Towards Systematic World-Action Model Pretraining

World-Action Models inherit world knowledge from video-generative priors, and channel it into executable control signals through embodied experience. Existing systems, however, are monolithic: the generative backbone, visual representation, architecture, information flow, inference procedure, and training data are tightly coupled, obscuring which design choices matter and why. We introduce OpenWAM, an open research stack that turns world-action pretraining into a controlled experimental program. OpenWAM-Infra factorizes the WAM design space into composable modules with unified training, inference, deployment, and evaluation. On this substrate, OpenWAM-Study examines three questions through controlled experiments: what to inherit, how world and action learning interact, and how their synergy scales; and distills three principles: upstream knowledge transfers through a sufficiently capable generative backbone and a compact, information-rich latent space; world-action synergy requires dedicated action capacity, explicit world-to-action information flow, and synchronized joint denoising; and embodied pretraining principally improves out-of-domain generalization, with one-stage co-training over egocentric and robot data integrating world coverage and action grounding. Composing these principles, we build OpenWAM-{\alpha}, an open WAM pretrained on roughly 6,400 hours of egocentric human and robot data and evaluated across simulation and real-world benchmarks. Across the eight simulation benchmarks and the real-robot experiments, which together span embodiments from single-arm and bimanual manipulation to dexterous hands, OpenWAM-{\alpha} delivers consistently excellent performance, sustaining its top-tier standing from simulation to the physical world. We release the full stack, including infrastructure, evaluation protocols, pretrained models, and data recipes, to facilitate future research.

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arXiv2026

LD4WAM: Learning Latent Dynamics from Human Videos for World Action Models

Human video is playing an increasingly central role in training World Action Models (WAMs), owing to its diversity and low collection cost relative to teleoperated robot data. However, most WAMs learn from such video only by predicting pixel-level future frames, giving dynamics that are not directly actionable, whereas motion retargeting recovers directly actionable actions but leaves a large visual gap across embodiments. We therefore propose motion-aligned latent dynamics as an embodiment-agnostic representation to bridge video priors and low-level actions. We further present LD4WAM, which pairs a Latent Dynamics Model trained with semantic reconstruction and real motion alignment with a World Dynamics Action Model built as a mixture-of-transformers (MoT), which preserves full future-video generation and uses learnable queries to distill these latent dynamics from generated futures for action conditioning. Pretrained on our curated unified dataset of over 5{,}000 hours of human and robot data, LD4WAM performs strongly in RoboTwin simulation and on real robots equipped with both grippers and dexterous hands, while generalizing well to unseen objects and backgrounds.

cs.RO↗

arXiv2026

HeteroGenManip: Generalizable Manipulation For Heterogeneous Object Interactions

Generalizable manipulation involving cross-type object interactions is a critical yet challenging capability in robotics. To reliably accomplish such tasks, robots must address two fundamental challenges: "where to manipulate" (contact point localization) and "how to manipulate" (subsequent interaction trajectory planning). Existing foundation-model-based approaches often adopt end-to-end learning that obscures the distinction between these stages, exacerbating error accumulation in long-horizon tasks. Furthermore, they typically rely on a single uniform model, which fails to capture the diverse, category-specific features required for heterogeneous objects. To overcome these limitations, we propose HeteroGenManip, a task-conditioned, two-stage framework designed to decouple initial grasp from complex interaction execution. First, Foundation-Correspondence-Guided Grasp module leverages structural priors to align the initial contact state, thereby significantly reducing the pose uncertainty of grasping. Subsequently, Multi-Foundation-Model Diffusion Policy (MFMDP) routes objects to category-specialized foundation models, integrating fine-grained geometric information with highly-variable part features via a dual-stream cross-attention mechanism. Experimental evaluations demonstrate that HeteroGenManip achieves robust intra-category shape and pose generalization. The framework achieves an average 31% performance improvement in simulation tasks with broad type setting, alongside a 36.7% gain across four real-world tasks with different interaction types.

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arXiv2026

LeHome: A Simulation Environment for Deformable Object Manipulation in Household Scenarios

Household environments present one of the most common, impactful yet challenging application domains for robotics. Within household scenarios, manipulating deformable objects is particularly difficult, both in simulation and real-world execution, due to varied categories and shapes, complex dynamics, and diverse material properties, as well as the lack of reliable deformable-object support in existing simulations. We introduce LeHome, a comprehensive simulation environment designed for deformable object manipulation in household scenarios. LeHome covers a wide spectrum of deformable objects, such as garments and food items, offering high-fidelity dynamics and realistic interactions that existing simulators struggle to simulate accurately. Moreover, LeHome supports multiple robotic embodiments and emphasizes low-cost robots as a core focus, enabling end-to-end evaluation of household tasks on resource-constrained hardware. By bridging the gap between realistic deformable object simulation and practical robotic platforms, LeHome provides a scalable testbed for advancing household robotics. Webpage: https://lehome-web.github.io/ .

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arXiv2026

RoboWM-Bench: A Benchmark for Evaluating World Models in Robotic Manipulation

Recent advances in large-scale video world models have enabled increasingly realistic future prediction, raising the prospect of using generated videos as scalable supervision for robot learning. However, for embodied manipulation, perceptual realism alone is not sufficient: generated interactions must also be physically consistent and executable by robotic agents. Existing benchmarks provide valuable assessments of visual quality and physical plausibility, but they do not systematically evaluate whether predicted behaviors can be translated into executable actions that complete manipulation tasks. We introduce RoboWM-Bench, a manipulation-centric benchmark for embodiment-grounded evaluation of video world models. RoboWM-Bench converts generated human-hand and robotic manipulation videos into embodied action sequences and validates them through execution in physically grounded simulation environments. Built on real-to-sim scene reconstruction and diverse manipulation tasks, RoboWM-Bench enables standardized, reproducible, and scalable evaluation of physical executability. Using RoboWM-Bench, we evaluate state-of-the-art video world models and observe that visual plausibility and embodied executability are not always aligned. Our analysis highlights several recurring factors that affect execution performance, including spatial reasoning, contact prediction, and non-physical geometric distortions, particularly in complex and long-horizon interactions. These findings provide a more fine-grained view of current model capabilities and underscore the value of embodiment-aware evaluation for guiding physically grounded world modeling in robotic manipulation.

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arXiv2026

From Seeing to Simulating: Generative High-Fidelity Simulation with Digital Cousins for Generalizable Robot Learning and Evaluation

Learning robust robot policies in real-world environments requires diverse data augmentation, yet scaling real-world data collection is costly due to the need for acquiring physical assets and reconfiguring environments. Therefore, augmenting real-world scenes into simulation has become a practical augmentation for efficient learning and evaluation. We present a generative framework that establishes a generative real-to-sim mapping from real-world panoramas to high-fidelity simulation scenes, and further synthesize diverse cousin scenes via semantic and geometric editing. Combined with high-quality physics engines and realistic assets, the generated scenes support interactive manipulation tasks. Additionally, we incorporate multi-room stitching to construct consistent large-scale environments for long-horizon navigation across complex layouts. Experiments demonstrate a strong sim-to-real correlation validating our platform's fidelity, and show that extensively scaling up data generation leads to significantly better generalization to unseen scene and object variations, demonstrating the effectiveness of Digital Cousins for generalizable robot learning and evaluation.

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