Jiawei He

Yuqi Wang, Ke Cheng, Jiawei He et al.

Driving world models have gained increasing attention due to their ability to model complex physical dynamics. However, their superb modeling capability is yet to be fully unleashed due to the limited video diversity in current driving datasets. We introduce DrivingDojo, the first dataset tailor-made for training interactive world models with complex driving dynamics. Our dataset features video clips with a complete set of driving maneuvers, diverse multi-agent interplay, and rich open-world driving knowledge, laying a stepping stone for future world model development. We further define an action instruction following (AIF) benchmark for world models and demonstrate the superiority of the proposed dataset for generating action-controlled future predictions.

Jiawei He, Danshi Li, Xinqiang Yu et al.

As large models gain traction, vision-language-action (VLA) systems are enabling robots to tackle increasingly complex tasks. However, limited by the difficulty of data collection, progress has mainly focused on controlling simple gripper end-effectors. There is little research on functional grasping with large models for human-like dexterous hands. In this paper, we introduce DexVLG, a large Vision-Language-Grasp model for Dexterous grasp pose prediction aligned with language instructions using single-view RGBD input. To accomplish this, we generate a dataset of 170 million dexterous grasp poses mapped to semantic parts across 174,000 objects in simulation, paired with detailed part-level captions. This large-scale dataset, named DexGraspNet 3.0, is used to train a VLM and flow-matching-based pose head capable of producing instruction-aligned grasp poses for tabletop objects. To assess DexVLG's performance, we create benchmarks in physics-based simulations and conduct real-world experiments. Extensive testing demonstrates DexVLG's strong zero-shot generalization capabilities-achieving over 76% zero-shot execution success rate and state-of-the-art part-grasp accuracy in simulation-and successful part-aligned grasps on physical objects in real-world scenarios.