Processed egocentric human video outperforms teleoperated real-robot trajectories as pretraining data for embodied foundation models, delivering 24% lower validation loss and 52.5-90% higher task success rates under matched post-training protocols.
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Being-h0
Canonical reference. 78% of citing Pith papers cite this work as background.
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2026 33verdicts
UNVERDICTED 33representative citing papers
EgoTouch is a new multi-view egocentric dataset with dense bimanual tactile supervision, and TouchAnything is a baseline framework showing that wrist views improve vision-based tactile prediction over egocentric input alone.
Being-H0.7 adds future-aware latent reasoning to direct VLA policies via dual-branch alignment on latent queries, matching world-model benefits at VLA efficiency.
π₀.₇ is a steerable generalist robotic model that uses rich multimodal prompts including language, subgoal images, and performance metadata to achieve out-of-the-box generalization across tasks and robot bodies.
Introduces H-Tac human tactile-action dataset and TTP pre-training that unifies spaces and predicts future tactile signals to improve robotic dexterous manipulation transfer.
ABot-M0.5 proposes a unified mobility-and-manipulation world action model using three alignment strategies that achieves state-of-the-art performance on mobile and fine-grained manipulation benchmarks.
A relative wrist translation bridging action with a vision-language-action model using interleaved tokens and attention masking transfers human manipulation skills to robots more effectively than 6DoF actions.
Wh0 generates scalable egocentric human manipulation videos with world models and converts them to boost pretrained VLA models' zero-shot dexterous task success from 8.3% to 38.9% on 18 real-world tasks.
Qwen-RobotManip applies unified alignment across representation, motion, and behavior to enable large-scale training on heterogeneous manipulation data, yielding emergent generalization on out-of-distribution robotic benchmarks.
ω-EVA is a three-stage latent world model framework that trains action-conditioned dynamics, a language-conditioned flow policy, and a tri-branch refiner to improve embodied action generation in simulation.
ActiveMimic pretrains on egocentric human video by recovering and modeling active camera motion as viewpoint actions, matching robot-data pretraining performance on real-world tasks.
A wearable interface with a shared dexterous hand module enables retargeting-free teleoperation and matched data collection, yielding policies with 88.75% average success across eight real-robot tasks that generalize and transfer across embodiments.
GaussianDream is a feed-forward 3D Gaussian world model plug-in that conditions VLA policies on learned 3D spatial and future evolution representations for improved robotic manipulation performance.
LACE aligns human-robot visual features via semantic distribution matching on corresponding body parts plus Gram loss, yielding 65% better zero-shot policy transfer than baseline DINO.
HumanNet is a 1M-hour human-centric video dataset with interaction annotations that enables better vision-language-action model performance than equivalent robot data in a controlled test.
State-of-the-art vision-language-action models catastrophically fail dynamic embodied reasoning due to lexical-kinematic shortcuts, behavioral inertia, and semantic feature collapse caused by architectural bottlenecks, as shown by the new BeTTER benchmark with real-world validation.
The paper introduces a unified framework for world models that fully incorporates all cognitive functions from Cognitive Architecture Theory, highlights under-researched areas in motivation and meta-cognition, and proposes Epistemic World Models as a new category for scientific discovery agents.
HEX introduces a state-centric framework with humanoid-aligned representations and mixture-of-experts proprioceptive prediction for coordinated whole-body control on bipedal humanoids.
A visuo-tactile policy learning method that exploits tactile motion correlation for contact state distinction and Mixture-of-Transformers for cross-modal fusion.
Kairos is a native world model stack using cross-embodiment pretraining, hybrid linear temporal attention with theoretical error bounds, and deployment-aware co-design, reporting top performance on embodied benchmarks.
DexPIE improves dexterous manipulation success rates by 37% over demo policies via real-world experience collection with adapted intervention, multi-stage DAgger, asynchronous relative-action inference, and optimality conditioning.
ConTrack introduces a constrained RL method with online dual-variable adaptation and adaptive resets for improved long-horizon hand tracking in simulation and on real robots.
DeMaVLA is a VLA foundation model using a pruned action expert and flow matching, pre-trained on 5000 hours of real demonstrations and post-trained on multi-task folding data with human-in-the-loop correction, reporting competitive benchmark and real-world folding performance.
BORA combines offline RL critic training with online chunk-wise residual adaptation to raise average success rates of real-world dexterous VLA policies by 33% and up to 43% on unseen objects across five tasks.
citing papers explorer
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TouchAnything: A Dataset and Framework for Bimanual Tactile Estimation from Egocentric Video
EgoTouch is a new multi-view egocentric dataset with dense bimanual tactile supervision, and TouchAnything is a baseline framework showing that wrist views improve vision-based tactile prediction over egocentric input alone.
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${\pi}_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities
π₀.₇ is a steerable generalist robotic model that uses rich multimodal prompts including language, subgoal images, and performance metadata to achieve out-of-the-box generalization across tasks and robot bodies.
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Human Cognition in Machines: A Unified Perspective of World Models
The paper introduces a unified framework for world models that fully incorporates all cognitive functions from Cognitive Architecture Theory, highlights under-researched areas in motivation and meta-cognition, and proposes Epistemic World Models as a new category for scientific discovery agents.
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HEX: Humanoid-Aligned Experts for Cross-Embodiment Whole-Body Manipulation
HEX introduces a state-centric framework with humanoid-aligned representations and mixture-of-experts proprioceptive prediction for coordinated whole-body control on bipedal humanoids.
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Learning Human-Intention Priors from Large-Scale Human Demonstrations for Robotic Manipulation
MoT-HRA learns embodiment-agnostic human-intention priors from a curated 2.2M-episode human video dataset via a three-expert hierarchical vision-language-action model to improve robotic manipulation under distribution shift.
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JoyAI-RA 0.1: A Foundation Model for Robotic Autonomy
JoyAI-RA is a multi-source pretrained VLA model that claims to bridge human-to-robot embodiment gaps via data unification and outperforms prior methods on generalization-heavy robotic tasks.