الباحثون

Zhongyang Che

المنشورات 2

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IronMind: Scaling Humanoid Dexterous Manipulation via Camera-Space Ego-Centric Pretraining

Huimin Pan, Yufan Ren, Kunpeng Song وآخرون · 2026

Egocentric human video offers a scalable data source for dexterous manipulation, yet using it to train humanoid robots presents two challenges: (1) an embodiment gap, as human hands differ structurally from robot end-effectors and low-cost egocentric recordings lack the torso kinematics required by conventional retarge …

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IronLLM: Forging Compact Edge-Native Language Models for Real-Time Embodied Intelligence

Changdi Yang, Fengquan Jiao, Haochih Lin وآخرون · 2026

We present IronLLM-0.6B, a 654M-parameter language model designed for efficient on-device inference. IronLLM-0.6B combines a hybrid attention architecture with X-MTP, a lightweight shared-KV multi-token prediction design that eliminates per-depth KV-cache replay and employs a lightweight verification head for rollback- …

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