Xinhua Wang

Yixue Zhang, Kun Wu, Zhi Gao et al.

The pursuit of general-purpose robotic manipulation is hindered by the scarcity of diverse, real-world interaction data. Unlike data collection from web in vision or language, robotic data collection is an active process incurring prohibitive physical costs. Consequently, automated task curation to maximize data value remains a critical yet under-explored challenge. Existing manual methods are unscalable and biased toward common tasks, while off-the-shelf foundation models often hallucinate physically infeasible instructions. To address this, we introduce RoboGene, an agentic framework designed to automate the generation of diverse, physically plausible manipulation tasks across single-arm, dual-arm, and mobile robots. RoboGene integrates three core components: diversity-driven sampling for broad task coverage, self-reflection mechanisms to enforce physical constraints, and human-in-the-loop refinement for continuous improvement. We conduct extensive quantitative analysis and large-scale real-world experiments, collecting datasets of 18k trajectories and introducing novel metrics to assess task quality, feasibility, and diversity. Results demonstrate that RoboGene significantly outperforms state-of-the-art foundation models (e.g., GPT-4o, Gemini 2.5 Pro). Furthermore, real-world experiments show that VLA models pre-trained with RoboGene achieve higher success rates and superior generalization, underscoring the importance of high-quality task generation. Our project is available at https://robogene-boost-vla.github.io.

Xinhua Wang, Caibo Feng, Xiangjun Fu et al.

We propose an innovative enhancement to the Mamba framework by increasing the Hausdorff dimension of its scanning pattern through a novel Hilbert Selective Scan mechanism. This mechanism explores the feature space more effectively, capturing intricate fine-scale details and improving overall coverage. As a result, it mitigates information inconsistencies while refining spatial locality to better capture subtle local interactions without sacrificing the model's ability to handle long-range dependencies. Extensive experiments on publicly available benchmarks demonstrate that our approach significantly improves both the quantitative metrics and qualitative visual fidelity of existing Mamba-based low-light image enhancement methods, all while reducing computational resource consumption and shortening inference time. We believe that this refined strategy not only advances the state-of-the-art in low-light image enhancement but also holds promise for broader applications in fields that leverage Mamba-based techniques.