Embodied AI

Follow this topic Ask about this topic

Momentum

21 papers in the last four weeks, up 250% on the four weeks before. 0.2% of all new papers.

Jul 13Week of Sep 28

Latest papers 165

All topics

STABLE: Simulation-Ready Tabletop Layout Generation via a Semantics-Physics Dual System
May 15, 2026Zhen Luo, Yixuan Yang, Xudong Xu +5Robotics Simulation 3D Scene Generation
1SII 2SUSTech · 2SUSTech · 3Shanghai AI Laboratory +4
TeachAnything: A Multimodal Crowdsourcing Platform for Training Embodied AI Agents in Symmetrical Reality
May 14, 2026Zidong Liu, Rongkai Liu, Yue Li +1Human-in-the-Loop AI Embodied AI
State Key Laboratory of General Artificial Intelligence, BIGAI
When Robots Do the Chores: A Benchmark and Agent for Long-Horizon Household Task Execution
May 14, 2026Zilin Zhu, Longteng Guo, Yanghong Mei +5Long-Horizon Planning Long-Horizon Agent Evaluation
Institute of Automation, Chinese Academy of Sciences, Beijing, China · Zhongguancun Academy, Beijing, China · University of Chinese Academy of Sciences, Beijing, China
CreFlow: Corrective Reflow for Sparse-Reward Embodied Video Diffusion RL
May 14, 2026Zhenyang Ni, Yijiang Li, Ruochen Jiao +7Video Diffusion Models Reinforcement Learning
Northwestern University · University of California, San Diego · University of Oxford
Sensing Intelligence as a Trainable Metamaterial Property
May 13, 2026Kyungmi Na, Yifei Li, Xinyi Yang +1Materials Science Embodied AI
1Daniel Guggenheim School of Aerospace Engineering, Georgia Institute of Technology · Computer Science and Artiﬁcial Intelligence Laboratory, Massachusetts Institute of Technology
Think Twice, Act Once: Verifier-Guided Action Selection For Embodied Agents
May 12, 2026Nishad Singhi, Christian Bialas, Snehal Jauhri +4OOD Generalization Embodied AI
Technical University of Darmstadt & hessian.AI
PRISM: : Planning and Reasoning with Intent in Simulated Embodied Environments
May 12, 2026Yunn Kang Lim, Pengzhan Sun, Ziyi Bai +4Long-Horizon Agent Evaluation AI Agent Benchmarks
1A*STAR · 2National University of Singapore · 3BAAI
Kairos: A Scalable Serving System for Physical AI
May 12, 2026Yinwei Dai, Ganesh Ananthanarayanan, Landon Cox +3Multi-Robot Systems Embodied AI
Princeton University · Microsoft
Embodied AI in Action: Insights from SAE World Congress 2026 on Safety, Trust, Robotics, and Real-World Deployment
May 11, 2026Jan-Mou Li, Paul Schmitt, Wei Tong +4AI Governance Trust in AI
EmbodiSkill: Skill-Aware Reflection for Self-Evolving Embodied Agents
May 11, 2026Ruofei Ju, Xinrui Wang, Xin Ding +12LLM Agent Skill Learning Agent Skill Learning
Nanjing University · Institute for AI Industry Research (AIR), Tsinghua University · Huazhong University of Science and Technology +2
EnactToM: An Evolving Benchmark for Functional Theory of Mind in Embodied Agents
May 11, 2026Gurusha Juneja, Dylan Lu, Saaket Agashe +7Multi-Agent Coordination Theory of Mind
University of California, Santa Barbara · 2King’s College London · 3Cisco Research
Kintsugi: Learning Policies by Repairing Executable Knowledge Bases
May 10, 2026Teng Cao, Yu Deng, Hikaru Shindo +6Robot Policy Learning LLM Agent Self-Improvement
Artificial Intelligence and Machine Learning Lab, Technical University of Darmstadt, Germany · Hessian Center for Artificial Intelligence (hessian.AI), Germany · Department of Computer Science, Technical University of Darmstadt, Germany +6
Mirror, Mirror on the Wall: Can VLM Agents Tell Who They Are at All?
May 9, 2026Filippo Ziliotto, Ciro Beneduce, Bruno Lepri +3AI Agent Evaluation Vision-Language Grounding
University of Padova · FondazioneLucianoBrunoSerafiniKessler · Fondazione Bruno Kessler
Done, But Not Sure: Disentangling World Completion from Self-Termination in Embodied Agents
May 9, 2026Ying Chen, Lihuang Fang, Rui Jiang +4AI Agent Evaluation Agent Evaluation
XPENG ROBOTICS
MemCompiler: Compile, Don't Inject -- State-Conditioned Memory for Embodied Agents
May 8, 2026Xin Ding, Xinrui Wang, Yifan Yang +9Embodied AI Memory-Augmented Agents
University of Science and Technology of China · Huazhong University of Science and Technology · Microsoft Research +2
RobotEQ: Transitioning from Passive Intelligence to Active Intelligence in Embodied AI
May 7, 2026Kuofei Fang, Xinyi Che, Haomin Ouyang +12Human-Robot Interaction Embodied AI
State Key Laboratory of Autonomous Intelligent Unmanned Systems, Tongji University · Tsinghua University · The Chinese University of Hong Kong +1
Position: Embodied AI Requires a Privacy-Utility Trade-off
May 6, 2026Xiaoliang Fan, Jiarui Chen, Zhuodong Liu +6Privacy-Preserving ML Embodied AI
Fujian Key Laboratory of Urban Intelligent Sensing and Computing, Xiamen University, China Key Laboratory of Multimedia Trusted Perception and Efficient Computing, Ministry of Education of China, Xiamen University, China · School of Computing and Information Systems, The University of Melbourne, Australia
Evaluating Generative Models as Interactive Emergent Representations of Human-Like Collaborative Behavior
May 5, 2026Shinas Shaji, Teena Chakkalayil Hassan, Sebastian Houben +1Multi-Agent LLM Systems Theory of Mind
Institute of AI and Autonomous Systems (A2S), Hochschule Bonn-Rhein-Sieg, Grantham-Allee 20, Sankt Augustin, 53757, Germany. · 3Fraunhofer Institute for Intelligent Analysis and Information SystemsMay (IAIS), Schloss Birlinghoven, Sankt Augustin, 53757, Germany. · 2Division for Systems and Control, Chalmers University of Technology, Chalmersplatsen 1, Gothenburg, 41296, Sweden.
MolmoAct2: Action Reasoning Models for Real-world Deployment
May 4, 2026Haoquan Fang, Jiafei Duan, Donovan Clay +26Robotics Efficient VLA Models
1Allen Institute for AI · University of Washington · 3National University of Singapore +6
ESARBench: A Benchmark for Agentic UAV Embodied Search and Rescue
May 2, 2026Daoxuan Zhang, Ping Chen, Jianyi Zhou +1Aerial Robotics Robotics Simulation
Harbin Institute of Technology, Shenzhen
Bridging Values and Behavior: A Hierarchical Framework for Proactive Embodied Agents
Apr 30, 2026Chunhui Zhang, Yuxuan Wang, Aoyang Qin +4Hierarchical Planning Agent Evaluation
State Key Laboratory of General Artificial Intelligence, BIGAI · School of Computer Science, Peking University · Tsinghua University +3
3D Generation for Embodied AI and Robotic Simulation: A Survey
Apr 29, 2026Tianwei Ye, Yifan Mao, Minwen Liao +63D Asset Generation Robotics Simulation
the Hong Kong University of Science and Technology · Wuhan University · Harbin Institute of Technology +2
Interoceptive machine framework: Toward interoception-inspired regulatory architectures in artificial intelligence
Apr 27, 2026Diego Candia-RiveraEmbodied AI Adaptive Control
NERV · Sorbonne Université, Paris Brain Institute (ICM), CNRS, INSERM, AP-HP, Hôpital de la Pitié-Salpêtrière, Paris 75013, France
AgenticCache: Cache-Driven Asynchronous Planning for Embodied AI Agents
Apr 27, 2026Hojoon Kim, Yuheng Wu, Thierry TambeLLM Planning LLM Inference Acceleration
Seoul National University, Seoul, South Korea · Stanford University, Stanford, California, USA
AmaraSpatial-10K: A Spatially and Semantically Aligned 3D Dataset for Spatial Computing and Embodied AI
Apr 24, 2026Mohammad Sadegh Salehi, Alex Perkins, Igor Maurell +2Synthetic Data Generation for Robotics Automated Evaluation
Zero One Creative
ReCAPA: Hierarchical Predictive Correction to Mitigate Cascading Failures
Apr 23, 2026Xiyin Zeng, Yuyu Sun, Haoyang Li +2Vision-Language-Action Models Vision-Language Alignment
1Hong Kong University of Science and Technology (Guangzhou) · 2South China Normal University
Environmental Understanding Vision-Language Model for Embodied Agent
Apr 21, 2026Jinsik Bang, Jaeyeon Bae, Donggyu Lee +2Embodied AI VLMs for Robotics
UNIST
Unmasking the Illusion of Embodied Reasoning in Vision-Language-Action Models
Apr 20, 2026Haiweng Xu, Sipeng Zheng, Hao Luo +3VLM Evaluation VLM Reasoning
1Peking University · 3BeingBeyond · 2Tsinghua University
StableIDM: Stabilizing Inverse Dynamics Model against Manipulator Truncation via Spatio-Temporal Refinement
Apr 20, 2026Kerui Li, Zhe Jing, Xiaofeng Wang +6Robot Policy Learning Embodied AI
1GigaAI · 3Beijing Institute of Technology · Institute of Automation, Chinese Academy of Sciences
Seeing Isn't Believing: Mitigating Belief Inertia via Active Intervention in Embodied Agents
Apr 19, 2026Hanlin Wang, Chak Tou Leong, Jian Wang +1Embodied AI LLM Agent Reliability
Department of Computing, The Hong Kong Polytechnic University · College of Computer Science, Sichuan University

May 15, 2026, cs.CVJ/K move · Enter open · S save

STABLE: Simulation-Ready Tabletop Layout Generation via a Semantics-Physics Dual System

Zhen Luo, Yixuan Yang, Xudong Xu, Jinkun Hao+4

1SII 2SUSTech · 2SUSTech · 3Shanghai AI Laboratory+4

Robotics Simulation 3D Scene Generation 3D Scene Layout Generation Embodied AI

Open paper AskPDF arXiv

Generating simulation-ready tabletop scenes from task instructions is an intriguing and promising research direction in the field of Embodied AI. However, existing task-to-scene generation methods rely exclusively on large language models (LLMs) to predict scene layouts, inevitably yielding object collisions or floating due to LLMs' inherent limitations in 3D spatial reasoning. In this paper, we present STABLE, a semantics-physics dual-system tailored for simulation-ready tabletop scene generation. STABLE consists of two complementary modules: (i) a Semantic Reasoner, a fine-tuned LLM trained on a structured tabletop scene dataset to generate coarse layouts from input task instructions, and (ii) a Physics Corrector, a physics-aware flow-based denoising model that outputs pose updates to refine layouts, which ensures the physical plausibility of scenes while preserves semantic alignment with task instructions. STABLE adopts a progressive generation paradigm: by alternating between the Semantic Reasoner and Physics Corrector, it incrementally expands the scene from task-critical objects to background objects. Experiments demonstrate that STABLE successfully generates simulation-ready tabletop scenes that strictly conform to task instructions and significantly enhances the physical validity of scenes over prior art.

Momentum

Related topics

Latest papers 165