Shuiqi Cheng

Galaxy Open-World Dataset and G0 Dual-System VLA Model

We present Galaxy Open-World Dataset, a large-scale, diverse collection of robot behaviors recorded in authentic human living and working environments. All demonstrations are gathered using a consistent robotic embodiment, paired with precise subtask-level language annotations to facilitate both tra…

ViTaS: Visual Tactile Soft Fusion Contrastive Learning for Visuomotor Learning

Learning to Manipulate Anywhere: A Visual Generalizable Framework For Reinforcement Learning

Can we endow visuomotor robots with generalization capabilities to operate in diverse open-world scenarios? In this paper, we propose Maniwhere, a generalizable framework tailored for visual reinforcement learning, enabling the trained robot policies to generalize across a combination of multiple vi…