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Guanghui Ren

Publications and source records attributed to Guanghui Ren.

At least 19 recordsLinked to original sources
arXiv2026

Imagine2Act: Leveraging Object-Action Motion Consistency from Imagined Goals for Robotic Manipulation

Relational object rearrangement (ROR) tasks (e.g., insert flower to vase) require a robot to manipulate objects with precise semantic and geometric reasoning. Existing approaches either rely on pre-collected demonstrations that struggle to capture complex geometric constraints or generate goal-state observations to capture semantic and geometric knowledge, but fail to explicitly couple object transformation with action prediction, resulting in errors due to generative noise. To address these limitations, we propose Imagine2Act, a 3D imitation-learning framework that incorporates semantic and geometric constraints of objects into policy learning to tackle high-precision manipulation tasks. We first generate imagined goal images conditioned on language instructions and reconstruct corresponding 3D point clouds to provide robust semantic and geometric priors. These imagined goal point clouds serve as additional inputs to the policy model, while an object-action consistency strategy with soft pose supervision explicitly aligns predicted end-effector motion with generated object transformation. This design enables Imagine2Act to reason about semantic and geometric relationships between objects and predict accurate actions across diverse tasks. Experiments in both simulation and the real world demonstrate that Imagine2Act outperforms previous state-of-the-art policies. More visualizations can be found at https://sites.google.com/view/imagine2act.

cs.RO↗
arXiv2026

BEE: Intervention-Adaptive Real-World Reinforcement Learning with Vision-Language-Action Models

Vision-language-action (VLA) models handle long-horizon manipulation, yet success hinges on a few precision-critical phases where millimeter-scale errors undo all prior progress. Online reinforcement learning (RL) can optimize exactly these actions, but free exploration is far too costly on real robots, which makes human corrections indispensable. However, existing online RL methods for VLAs either cannot incorporate such corrections or fold them into undifferentiated supervision. Yet human corrections are not uniformly noisy but reliable along some action dimensions and variable along others. Building on this, we introduce BEE, an intervention-adaptive framework for real-world RL on a frozen VLA that lets the policy go BEyond Expert imitation. We formulate human corrections not as actions to reproduce but as evidence about a constraint: a Correction Model predicts how a human would correct a given VLA proposal and how consistent the correction is along each action dimension. This predicted consistency sets the per-dimension tightness of a constraint on policy optimization. Where corrections are consistent the policy stays close to the human, and where they vary, the constraint relaxes. We evaluate BEE on three real-world manipulation tasks and one LIBERO-Pro simulation task at a matched online-data budget. BEE attains the highest success rate on every task, 91.2% on average against 57.5% for RLT and 42.1% for DSRL, and the lowest human intervention rate on all real-world tasks.

cs.RO↗
arXiv2026

Topological characterization of a reconfigurable synthetic-frequency SSH lattice on an integrated lithium-niobate platform

Synthetic frequency dimensions provide a powerful and highly reconfigurable platform for topological photonics. However, experimentally identifying their topological phases remains challenging because these systems do not naturally provide well-defined boundaries or readily accessible edge-state signatures. Here, we realize a reconfigurable Su-Schrieffer-Heeger (SSH) lattice in a synthetic frequency dimension using an integrated thin-film lithium-niobate photonic molecule and directly measure its topology. Electro-optic coupling between staggered resonator supermodes enables independent control of the effective intra-cell and inter-cell hopping strengths, enabling dynamic switching between trivial and non-trivial topological phases on the same chip. We validate the transition through two independently derived bulk topological invariants: direct retrieval of Zak phase from time-resolved synthetic-dimension band-structure spectroscopy; and extraction of the winding number using mean-chiral-displacement method from site-resolved steady-state measurements. Both approaches consistently identify the topological transition and agree closely with theoretical predictions. Our results demonstrate experimentally accessible, boundary-independent methods for characterizing topology in synthetic-frequency lattices. More broadly, the integrated and dynamically reconfigurable photonic platform provides a scalable framework for bulk topological characterization and programmable topological photonic systems.

physics.optics↗
arXiv2026

GE-Act 2.0: Pretraining and Scaling a World-Action Model for Robotic Manipulation

World-action models (WAM) predict future states to guide robot actions, enabling learning from both action-free video and action-labeled interaction. Most inherit pretrained video generators, leaving WAM pretraining and scaling underexplored. We introduce Genie Envisioner Act 2.0 (GE-Act 2.0), a world-action model whose trainable generative and action components are all initialized from scratch on manipulation data. It combines a control-oriented autoencoder (CoAE), a single-step visual planner (SVP), and an inverse dynamics model (IDM). CoAE retains action- and instruction-relevant information under aggressive compression, while SVP produces a complete future state in one differentiable pass, so visual planning and inverse dynamics can be pretrained separately on complementary data. The components are then jointly trained with knowledge-aligned selective optimization (KASO), which reduces mismatched supervision by selecting only predicted futures judged behaviorally compatible with the recorded action. We evaluate pretrained checkpoints directly, without per-task fine-tuning, on 100 tasks across 20 manipulation skill groups with held-out scenes, backgrounds, lighting, and object instances. Scaling co-training data from 300 to 30,000 hours raises success from 17.1% to 44.1% on G1-OP and from 13.4% to 31.1% on G2-90D; despite comprising less than 2% of the co-training data, G2-90D improves by 17.7 points, suggesting cross-embodiment transfer. Gains span 19/20 and 18/20 skill groups, and skill-specific coverage strongly correlates with zero-shot out-of-distribution (OOD) success (Pearson r=0.80; Spearman rho=0.85). Under the same protocol, the model grounds object, color, shape, and position references in at least 90% of trials and follows explicit instructions even when they conflict with an already-committed behavior or a conventional scene association.

cs.RO↗
arXiv2026

Reconfigurable microwave photonic Fano filters based on optical Kerr microcombs

Microwave photonic (MWP) Fano filters, featuring asymmetric filter shapes that enable steep spectral transitions, are attractive for high bandwidth microwave signal processing such as frequency discrimination. However, achieving both steep spectral transitions and a high degree of reconfigurability remains challenging for conventional methods relying on direct mapping of Fano resonances generated by optical filters. Here, we propose and experimentally demonstrate a new way for realizing MWP Fano filters based on a microcomb-driven transversal filter system. Leveraging the large number of comb lines provided by microcombs as discrete taps, the transversal filter system can synthesize filter response that closely resembles Fano resonances, yielding high rolloff rates and slope rates up to 33.8 dB / GHz and 25.7 dB / GHz in our experiments, respectively. In addition, by simply programming the tap coefficients without changing any hardware, highly reconfigurable filter response can be realized. We experimentally demonstrate independent tuning of all three Fano characteristic parameters, including the asymmetry factor, resonance linewidth, and center frequency. These results verify the effectiveness of our approach for implementing highly reconfigurable MWP Fano filters with steep spectral transitions, offering strong versatility for meeting diverse requirements in practical applications.

physics.optics↗
arXiv2026

MEGA-CL: A Molecular Foundation Model for Generalizable ADMET Prediction through Graph External Attention and Contrastive Learning

Predicting the absorption, distribution, metabolism, excretion and toxicity (ADMET) properties of small molecules remains a major challenge in drug discovery. Here, we present MEGA-CL, a foundation graph neural network framework for universal molecular ADMET prediction. MEGA-CL integrates self-supervised contrastive learning with a multi-head external attention mechanism and an enhanced message-passing architecture, enabling simultaneous modeling of local chemical substructures and global inter-graph relationships while mitigating over-smoothing effects commonly observed in deep graph networks. Across 13 benchmark datasets and 21 downstream ADMET tasks, MEGA-CL consistently outperforms state-of-the-art baseline models. In particular, the framework demonstrates robust performance on challenging regression tasks, including clearance (CL) and steady-state volume of distribution (VDss), while maintaining strong generalization ability in independent external validation. Clinically relevant predictive accuracy was achieved, with more than 75% of predictions falling within a 3-fold error range. In an external evaluation on 18 novel compounds derived from recently approved FDA drugs, over 50% of human liver microsome clearance (HLMC) predictions were within a 2-fold error range. To further assess its practical applicability, MEGA-CL was prospectively evaluated on three preclinical drug candidates using in vitro hepatic microsomal metabolism assays and CYP450 inhibition assays guided by model predictions. The predicted HLMC values for all candidates were within 2.5-fold of the experimentally measured values, and 73.3% of CYP450 inhibition endpoints (11/15) were correctly classified. These results demonstrate the potential of MEGA-CL as a generalizable framework for accelerating in silico ADMET evaluation and early-stage drug candidate optimization.

cs.LG↗
arXiv2026

Unified Embodied VLM Reasoning with Robotic Action via Autoregressive Discretized Pre-training

General-purpose robotic systems operating in open-world environments must achieve both broad generalization and high-precision action execution, a combination that remains challenging for existing Vision-Language-Action (VLA) models. While large Vision-Language Models (VLMs) improve semantic generalization, insufficient embodied reasoning leads to brittle behavior, and conversely, strong reasoning alone is inadequate without precise control. To provide a decoupled and quantitative assessment of this bottleneck, we introduce Embodied Reasoning Intelligence Quotient (ERIQ), a large-scale embodied reasoning benchmark in robotic manipulation, comprising 6K+ question-answer pairs across four reasoning dimensions. By decoupling reasoning from execution, ERIQ enables systematic evaluation and reveals a strong positive correlation between embodied reasoning capability and end-to-end VLA generalization. To bridge the gap from reasoning to precise execution, we propose FACT, a flow-matching-based action tokenizer that converts continuous control into discrete sequences while preserving high-fidelity trajectory reconstruction. The resulting GenieReasoner jointly optimizes reasoning and action in a unified space, outperforming both continuous-action and prior discrete-action baselines in real-world tasks. Together, ERIQ and FACT provide a principled framework for diagnosing and overcoming the reasoning-precision trade-off, advancing robust, general-purpose robotic manipulation. Project page: https://geniereasoner.github.io/GenieReasoner/

cs.RO↗
arXiv2026

Why Tree-Style Branching Matters for Thought Advantage Estimation in GRPO

Group Relative Policy Optimization (GRPO) trains Chain-of-Thought reasoning with verifiable rewards, but estimating thought-level advantages without value functions often suffers from high variance. Although tree-style branching is used in practice to reduce variance, it lacks a theoretical explanation of why it works and whether it is important or potentially necessary. We study thought-level advantage estimation in GRPO from a variance perspective under a minimal tree-style setting where multiple continuations are sampled for each thought. Using the multivariate delta method, we reveal a sampling-dimension asymmetry. Increasing sampled thoughts ($K$) leaves a strictly positive estimation-variance floor, whereas increasing continuations per thought ($M$) drives the leading-order estimation variance to zero at rate $1/M$. This implies that, within the fixed-temperature GRPO-style estimator without value models studied here, accurate thought-level advantage estimation cannot be achieved by scaling thought sampling alone, making continuation-level branching a principled and potentially necessary mechanism rather than a heuristic. Experiments further provide empirical evidence for its effectiveness and potential necessity, demonstrating improved optimization stability, training efficiency, and final performance not only in math but also across vision domains and under different model architectures and sizes.

cs.CL↗
arXiv2026

Is Diversity All You Need for Scalable Robotic Manipulation?

Data scaling has driven remarkable success in foundation models for Natural Language Processing (NLP) and Computer Vision (CV), yet the principles of effective data scaling in robotic manipulation remain insufficiently understood. In this work, we investigate the nuanced role of data diversity in robot learning by examining three critical dimensions-task (what to do), embodiment (which robot to use), and expert (who demonstrates)-challenging the conventional intuition of "more diverse is better". Throughout extensive experiments on various robot platforms, we reveal that (1) task diversity proves more critical than per-task demonstration quantity, benefiting transfer from diverse pre-training tasks to novel downstream scenarios; (2) multi-embodiment pre-training data is optional for cross-embodiment transfer-models trained on high-quality single-embodiment data can efficiently transfer to different platforms, showing more desirable scaling property during fine-tuning than multi-embodiment pre-trained models; and (3) expert diversity, arising from individual operational preferences and stochastic variations in human demonstrations, can be confounding to policy learning, with velocity multimodality emerging as a key contributing factor. Based on this insight, we propose a distribution debiasing method to mitigate velocity ambiguity, the yielding GO-1-Pro achieves substantial performance gains of 15%, equivalent to using 2.5 times pre-training data. Collectively, these findings provide new perspectives and offer practical guidance on how to scale robotic manipulation datasets effectively.

cs.RO↗
arXiv2026

GE-Sim 2.0: A Roadmap Towards Comprehensive Closed-loop Video World Simulators for Robotic Manipulation

We introduce GE-Sim 2.0 (Genie Envisioner World Simulator 2.0), a closed-loop video world simulator for robotic manipulation. Building on the action-conditioned video generation framework of Genie Envisioner, GE-Sim 2.0 is re-trained on thousands of hours of real-world robot data spanning teleoperation, contact-rich interaction, and on-robot policy deployment, substantially improving action-following fidelity and trajectory coverage. On top of this foundation, three new modules close the loop from video simulation to policy learning: a state expert that decodes proprioceptive state from video latents to support next-chunk prediction by downstream VLA policies; a world judge that scores generated rollouts against task instructions, yielding machine-verifiable success signals and rewards in place of manual inspection; and an acceleration framework that delivers a 25-frame rollout in 2.3 seconds on a single H100, with up to 4* frame skipping at inference for long-horizon evaluation. GE-Sim 2.0 tops the public WorldArena leaderboard at only 2B parameters, outperforming both dedicated robotic world models and closed-source general video generators, and policies trained against its rollouts and rewards translate into measurable real-world gains, establishing GE-Sim 2.0 as a practical platform for scalable evaluation and closed-loop learning of manipulation policies.

cs.RO↗
arXiv2026

Libra-VLA: Achieving Learning Equilibrium via Asynchronous Coarse-to-Fine Dual-System

Vision-Language-Action (VLA) models are a promising paradigm for generalist robotic manipulation by grounding high-level semantic instructions into executable physical actions. However, prevailing approaches typically adopt a monolithic generation paradigm, directly mapping visual-linguistic features to high-frequency motor commands in a flat, non-hierarchical fashion. This strategy overlooks the inherent hierarchy of robotic manipulation, where complex actions can be naturally modeled in a Hybrid Action Space, decomposing into discrete macro-directional reaching and continuous micro-pose alignment, severely widening the semantic-actuation gap and imposing a heavy representational burden on grounding high-level semantics to continuous actions. To address this, we introduce Libra-VLA, a novel Coarse-to-Fine Dual-System VLA architecture. We explicitly decouple the learning complexity into a coarse-to-fine hierarchy to strike a training equilibrium, while simultaneously leveraging this structural modularity to implement an asynchronous execution strategy. The Semantic Planner predicts discrete action tokens capturing macro-directional intent, while the Action Refiner conditions on coarse intent to generate high-frequency continuous actions for precise alignment. Crucially, our empirical analysis reveals that performance follows an inverted-U curve relative to action decomposition granularity, peaking exactly when the learning difficulty is balanced between the two sub-systems. With the asynchronous design, our approach offers a scalable, robust, and responsive solution for open-world manipulation.

cs.RO↗
arXiv2026

RoboClaw: An Agentic Framework for Scalable Long-Horizon Robotic Tasks

Vision-Language-Action (VLA) systems have shown strong potential for language-driven robotic manipulation. However, scaling them to long-horizon tasks remains challenging. Existing pipelines typically separate data collection, policy learning, and deployment, resulting in heavy reliance on manual environment resets and brittle multi-policy execution. We present RoboClaw, an agentic robotics framework that unifies data collection, policy learning, and task execution under a single VLM-driven controller. At the policy level, RoboClaw introduces Entangled Action Pairs (EAP), which couple forward manipulation behaviors with inverse recovery actions to form self-resetting loops for autonomous data collection. This mechanism enables continuous on-policy data acquisition and iterative policy refinement with minimal human intervention. During deployment, the same agent performs high-level reasoning and dynamically orchestrates learned policy primitives to accomplish long-horizon tasks. By maintaining consistent contextual semantics across collection and execution, RoboClaw reduces mismatch between the two phases and improves multi-policy robustness. Experiments in real-world manipulation tasks demonstrate improved stability and scalability compared to conventional open-loop pipelines, while significantly reducing human effort throughout the robot lifecycle, achieving a 25% improvement in success rate over baseline methods on long-horizon tasks and reducing human time investment by 53.7%.

cs.RO↗
arXiv2026

ACoT-VLA: Action Chain-of-Thought for Vision-Language-Action Models

Vision-Language-Action models have emerged as essential generalist robot policies for diverse manipulation tasks, conventionally relying on directly translating multimodal inputs into actions via Vision-Language Model embeddings. Recent advancements have introduced explicit intermediary reasoning-such as sub-task prediction (language) or goal image synthesis (vision)-to guide action generation. However, these intermediate reasoning are often indirect and inherently limited in their capacity to convey the full, granular information required for precise action execution. Instead, we posit that the most effective form of reasoning is one that deliberates directly in the action space. We introduce Action Chain-of-Thought (ACoT), a paradigm where the reasoning process itself is formulated as a structured sequence of coarse action intents that guide the final policy. In this paper, we propose ACoT-VLA, a novel architecture that materializes the ACoT paradigm. Specifically, we introduce two complementary components: an Explicit Action Reasoner (EAR) and Implicit Action Reasoner (IAR). The former proposes coarse reference trajectories as explicit action-level reasoning steps, while the latter extracts latent action priors from internal representations of multimodal input, co-forming an ACoT that conditions the downstream action head to enable grounded policy learning. Extensive experiments in real-world and simulation environments demonstrate the superiority of our proposed method. Code is available at: https://github.com/AgibotTech/ACoT-VLA.

cs.RO↗
arXiv2026

Real2Edit2Real: Generating Robotic Demonstrations via a 3D Control Interface

Recent progress in robot learning has been driven by large-scale datasets and powerful visuomotor policy architectures, yet policy robustness remains limited by the substantial cost of collecting diverse demonstrations, particularly for spatial generalization in manipulation tasks. To reduce repetitive data collection, we present Real2Edit2Real, a framework that generates new demonstrations by bridging 3D editability with 2D visual data through a 3D control interface. Our approach first reconstructs scene geometry from multi-view RGB observations with a metric-scale 3D reconstruction model. Based on the reconstructed geometry, we perform depth-reliable 3D editing on point clouds to generate new manipulation trajectories while geometrically correcting the robot poses to recover physically consistent depth, which serves as a reliable condition for synthesizing new demonstrations. Finally, we propose a multi-conditional video generation model guided by depth as the primary control signal, together with action, edge, and ray maps, to synthesize spatially augmented multi-view manipulation videos. Experiments on four real-world manipulation tasks demonstrate that policies trained on data generated from only 1-5 source demonstrations can match or outperform those trained on 50 real-world demonstrations, improving data efficiency by up to 10-50x. Moreover, experimental results on height and texture editing demonstrate the framework's flexibility and extensibility, indicating its potential to serve as a unified data generation framework. Project website is https://real2edit2real.github.io/.

cs.RO↗
arXiv2026

Bounded frequency lattices in integrated lithium niobate coupled ring cavities

Synthetic dimensions provide a powerful tool that uses comparatively simple structures to probe high-dimensional topological physics, in which edge states emerging at lattice boundaries are of great importance. However, the demonstration of lattice boundaries in synthetic dimensions is relatively nascent. In this work, we realize an integrated coupled ring system in a thin-film lithium niobate photonic platform that enables the simulation of one-dimensional frequency crystal lattice with sharp boundaries, attaining suppression for two coupling terms with a single auxiliary cavity. Their effect on tight-binding lattice dynamics was verified by acquiring discretized band structures of an N = 7 site lattice. The ability to create robust frequency-space boundaries is a key step toward the realization of topological systems that harness bulk-edge correspondence as well as optical information processing in a photonic chip.

physics.optics↗
arXiv2026

EO-1: An Open Unified Embodied Foundation Model for General Robot Control

The human ability to seamlessly perform multimodal reasoning and physical interaction in the open world is a core goal for general purpose embodied intelligent systems. Recent vision-language-action (VLA) models, which are co-trained on large-scale robot and visual-text data, have demonstrated notable progress in general robot control. However, they still fail to achieve human-level flexibility in interleaved reasoning and interaction. In this work, we introduce EO-Robotics, consists of EO-1 model and EO-Data1.5M dataset. EO-1 is a unified embodied foundation model that achieves superior performance in multimodal embodied reasoning and robot control through interleaved vision-text-action pre-training. The development of EO-1 is based on two key pillars: (i) a unified architecture that processes multimodal inputs indiscriminately (image, text, video, and action), and (ii) a massive, high-quality multimodal embodied reasoning dataset, EO-Data1.5M, which contains over 1.5 million samples with emphasis on interleaved vision-text-action comprehension. EO-1 is trained through synergies between auto-regressive decoding and flow matching denoising on EO-Data1.5M, enabling seamless robot action generation and multimodal embodied reasoning. Extensive experiments demonstrate the effectiveness of interleaved vision-text-action learning for open-world understanding and generalization, validated through a variety of long-horizon, dexterous manipulation tasks across multiple embodiments. This paper details the architecture of EO-1, the data construction strategy of EO-Data1.5M, and the training methodology, offering valuable insights for developing advanced embodied foundation models. Project Page: https://eo-robotics.ai/eo-1.

cs.RO↗
arXiv2026

Genie Centurion: Accelerating Scalable Real-World Robot Training with Human Rewind-and-Refine Guidance

While Vision-Language-Action (VLA) models show strong generalizability in various tasks, real-world deployment of robotic policy still requires large-scale, high-quality human expert demonstrations. However, data collection via human teleoperation requires continuous operator attention, which is costly, hard to scale. To address this, we propose Genie Centurion (GCENT), a scalable and general data collection paradigm based on human rewind-and-refine guidance, enabling robots' interactive learning in deployment. GCENT starts at an imperfect policy and improves over time. When the robot execution failures occur, GCENT allows robots to revert to a previous state with a rewind mechanism, after which a teleoperator provides corrective demonstrations to refine the policy. This framework supports a one-human-to-many-robots supervision scheme with a Task Sentinel module, which autonomously predicts task success and solicits human intervention when necessary. Empirical results show that GCENT achieves up to 40% higher task success rates than state-of-the-art data collection methods, and reaches comparable performance using less than half the data in long-horizon and precise tasks. We also quantify the data yield-to-effort ratio under multi-robot scenarios, demonstrating GCENT's potential for scalable and cost-efficient robot policy training in real-world environments.

cs.RO↗
arXiv2025

Act2Goal: From World Model To General Goal-conditioned Policy

Specifying robotic manipulation tasks in a manner that is both expressive and precise remains a central challenge. While visual goals provide a compact and unambiguous task specification, existing goal-conditioned policies often struggle with long-horizon manipulation due to their reliance on single-step action prediction without explicit modeling of task progress. We propose Act2Goal, a general goal-conditioned manipulation policy that integrates a goal-conditioned visual world model with multi-scale temporal control. Given a current observation and a target visual goal, the world model generates a plausible sequence of intermediate visual states that captures long-horizon structure. To translate this visual plan into robust execution, we introduce Multi-Scale Temporal Hashing (MSTH), which decomposes the imagined trajectory into dense proximal frames for fine-grained closed-loop control and sparse distal frames that anchor global task consistency. The policy couples these representations with motor control through end-to-end cross-attention, enabling coherent long-horizon behavior while remaining reactive to local disturbances. Act2Goal achieves strong zero-shot generalization to novel objects, spatial layouts, and environments. We further enable reward-free online adaptation through hindsight goal relabeling with LoRA-based finetuning, allowing rapid autonomous improvement without external supervision. Real-robot experiments demonstrate that Act2Goal improves success rates from 30% to 90% on challenging out-of-distribution tasks within minutes of autonomous interaction, validating that goal-conditioned world models with multi-scale temporal control provide structured guidance necessary for robust long-horizon manipulation. Project page: https://act2goal.github.io/

cs.RO↗