EgoLive: A Large-Scale Egocentric Dataset from Real-World Human Tasks

The advancement of robot learning is currently hindered by the scarcity of large-scale, high-quality datasets. While established data collection methods such as teleoperation and universal manipulation interfaces dominate current datasets, they suffer from inherent limitations in scalability and real-world deployability. Human egocentric video collection, by contrast, has emerged as a promising approach to enable scalable, natural and in-the-wild data collection. As such, we present EgoLive, a large-scale, high-quality egocentric dataset designed explicitly for robot manipulation learning. EgoLive establishes three distinctive technical advantages over existing egocentric datasets: first, it represents the largest open-source annotated egocentric dataset focused on real-world task-oriented human routines to date; second, it delivers leading data quality via a customized head-mounted capture device and comprehensive high-precision multi-modal annotations; third, all data is collected exclusively in unconstrained real-world scenarios and encompasses vertical field human working data, including home service, retail, and other practical work scenarios, providing superior diversity and ecological validity. With the introduction of EgoLive, we aim to provide the research community with a scalable, high-quality dataset that accelerates breakthroughs in generalizable robotic models and facilitates the real-world deployment of robot systems.

JoyAI-RA 0.1: A Foundation Model for Robotic Autonomy

Robotic autonomy in open-world environments is fundamentally limited by insufficient data diversity and poor cross-embodiment generalization. Existing robotic datasets are often limited in scale and task coverage, while relatively large differences across robot embodiments impede effective behavior knowledge transfer. To address these challenges, we propose JoyAI-RA, a vision-language-action (VLA) embodied foundation model tailored for generalizable robotic manipulation. JoyAI-RA presents a multi-source multi-level pretraining framework that integrates web data, large-scale egocentric human manipulation videos, simulation-generated trajectories, and real-robot data. Through training on heterogeneous multi-source data with explicit action-space unification, JoyAI-RA effectively bridges embodiment gaps, particularly between human manipulation and robotic control, thereby enhancing cross-embodiment behavior learning. JoyAI-RA outperforms state-of-the-art methods in both simulation and real-world benchmarks, especially on diverse tasks with generalization demands.

HMVLM: Multistage Reasoning-Enhanced Vision-Language Model for Long-Tailed Driving Scenarios

We present HaoMo Vision-Language Model (HMVLM), an end-to-end driving framework that implements the slow branch of a cognitively inspired fast-slow architecture. A fast controller outputs low-level steering, throttle, and brake commands, while a slow planner-a large vision-language model-generates high-level intents such as "yield to pedestrian" or "merge after the truck" without compromising latency. HMVLM introduces three upgrades: (1) selective five-view prompting with an embedded 4s history of ego kinematics, (2) multi-stage chain-of-thought (CoT) prompting that enforces a Scene Understanding -> Driving Decision -> Trajectory Inference reasoning flow, and (3) spline-based trajectory post-processing that removes late-stage jitter and sharp turns. Trained on the Waymo Open Dataset, these upgrades enable HMVLM to achieve a Rater Feedback Score (RFS) of 7.7367, securing 2nd place in the 2025 Waymo Vision-based End-to-End (E2E) Driving Challenge and surpassing the public baseline by 2.77%.

HMAD: Advancing E2E Driving with Anchored Offset Proposals and Simulation-Supervised Multi-target Scoring

End-to-end autonomous driving faces persistent challenges in both generating diverse, rule-compliant trajectories and robustly selecting the optimal path from these options via learned, multi-faceted evaluation. To address these challenges, we introduce HMAD, a framework integrating a distinctive Bird's-Eye-View (BEV) based trajectory proposal mechanism with learned multi-criteria scoring. HMAD leverages BEVFormer and employs learnable anchored queries, initialized from a trajectory dictionary and refined via iterative offset decoding (inspired by DiffusionDrive), to produce numerous diverse and stable candidate trajectories. A key innovation, our simulation-supervised scorer module, then evaluates these proposals against critical metrics including no at-fault collisions, drivable area compliance, comfortableness, and overall driving quality (i.e., extended PDM score). Demonstrating its efficacy, HMAD achieves a 44.5% driving score on the CVPR 2025 private test set. This work highlights the benefits of effectively decoupling robust trajectory generation from comprehensive, safety-aware learned scoring for advanced autonomous driving.

CogAD: Cognitive-Hierarchy Guided End-to-End Autonomous Driving

While end-to-end autonomous driving has advanced significantly, prevailing methods remain fundamentally misaligned with human cognitive principles in both perception and planning. In this paper, we propose CogAD, a novel end-to-end autonomous driving model that emulates the hierarchical cognition mechanisms of human drivers. CogAD implements dual hierarchical mechanisms: global-to-local context processing for human-like perception and intent-conditioned multi-mode trajectory generation for cognitively-inspired planning. The proposed method demonstrates three principal advantages: comprehensive environmental understanding through hierarchical perception, robust planning exploration enabled by multi-level planning, and diverse yet reasonable multi-modal trajectory generation facilitated by dual-level uncertainty modeling. Extensive experiments on nuScenes and Bench2Drive demonstrate that CogAD achieves state-of-the-art performance in end-to-end planning, exhibiting particular superiority in long-tail scenarios and robust generalization to complex real-world driving conditions.

Quality over Quantity: Boosting Data Efficiency Through Ensembled Multimodal Data Curation

In an era overwhelmed by vast amounts of data, the effective curation of web-crawl datasets is essential for optimizing model performance. This paper tackles the challenges associated with the unstructured and heterogeneous nature of such datasets. Traditional heuristic curation methods often inadequately capture complex features, resulting in biases and the exclusion of relevant data. We introduce an advanced, learning-driven approach, Ensemble Curation Of DAta ThroUgh Multimodal Operators (EcoDatum), incorporating a novel quality-guided deduplication method to ensure balanced feature distributions. EcoDatum strategically integrates various unimodal and multimodal data curation operators within a weak supervision ensemble framework, utilizing automated optimization to score each data point effectively. EcoDatum, which significantly improves the data curation quality and efficiency, outperforms existing state-of-the-art (SOTA) techniques, ranked 1st on the DataComp leaderboard, with an average performance score of 0.182 across 38 diverse evaluation datasets. This represents a 28% improvement over the DataComp baseline method, demonstrating its effectiveness in improving dataset curation and model training efficiency.

RGM: Reconstructing High-fidelity 3D Car Assets with Relightable 3D-GS Generative Model from a Single Image

The generation of high-quality 3D car assets is essential for various applications, including video games, autonomous driving, and virtual reality. Current 3D generation methods utilizing NeRF or 3D-GS as representations for 3D objects, generate a Lambertian object under fixed lighting and lack separated modelings for material and global illumination. As a result, the generated assets are unsuitable for relighting under varying lighting conditions, limiting their applicability in downstream tasks. To address this challenge, we propose a novel relightable 3D object generative framework that automates the creation of 3D car assets, enabling the swift and accurate reconstruction of a vehicle's geometry, texture, and material properties from a single input image. Our approach begins with introducing a large-scale synthetic car dataset comprising over 1,000 high-precision 3D vehicle models. We represent 3D objects using global illumination and relightable 3D Gaussian primitives integrating with BRDF parameters. Building on this representation, we introduce a feed-forward model that takes images as input and outputs both relightable 3D Gaussians and global illumination parameters. Experimental results demonstrate that our method produces photorealistic 3D car assets that can be seamlessly integrated into road scenes with different illuminations, which offers substantial practical benefits for industrial applications.