Zhiheng Li

Yuxing Wang, Zhiyu Chen, Tiantian Zhang et al.

Brain-body co-evolution enables animals to develop complex behaviors in their environments. Inspired by this biological synergy, embodied co-design (ECD) has emerged as a transformative paradigm for creating intelligent agents-from virtual creatures to physical robots-by jointly optimizing their morphologies and controllers rather than treating control in isolation. This integrated approach facilitates richer environmental interactions and robust task performance. In this survey, we provide a systematic overview of recent advances in ECD. We first formalize the concept of ECD and position it within related fields. We then introduce a hierarchical taxonomy: a lower layer that breaks down agent design into three fundamental components-controlling brain, body morphology, and task environment-and an upper layer that integrates these components into four major ECD frameworks: bi-level, single-level, generative, and open-ended. This taxonomy allows us to synthesize insights from more than one hundred recent studies. We further review notable benchmarks, datasets, and applications in both simulated and real-world scenarios. Finally, we identify significant challenges and offer insights into promising future research directions. A project associated with this survey has been created at https://github.com/Yuxing-Wang-THU/SurveyBrainBody.

Yu Lin, Zhiheng Li, Yubo Cui et al.

3D single object tracking (SOT) is an important and challenging task for the autonomous driving and mobile robotics. Most existing methods perform tracking between two consecutive frames while ignoring the motion patterns of the target over a series of frames, which would cause performance degradation in the scenes with sparse points. To break through this limitation, we introduce Sequence-to-Sequence tracking paradigm and a tracker named SeqTrack3D to capture target motion across continuous frames. Unlike previous methods that primarily adopted three strategies: matching two consecutive point clouds, predicting relative motion, or utilizing sequential point clouds to address feature degradation, our SeqTrack3D combines both historical point clouds and bounding box sequences. This novel method ensures robust tracking by leveraging location priors from historical boxes, even in scenes with sparse points. Extensive experiments conducted on large-scale datasets show that SeqTrack3D achieves new state-of-the-art performances, improving by 6.00% on NuScenes and 14.13% on Waymo dataset. The code will be made public at https://github.com/aron-lin/seqtrack3d.

Longrong Yang, Zhixiong Zeng, Yufeng Zhong et al.

Multimodal large language models are evolving toward multimodal agents capable of proactively executing tasks. Most agent research focuses on GUI or embodied scenarios, which correspond to agents interacting with 2D virtual worlds or 3D real worlds, respectively. However, many complex tasks typically require agents to interleavely interact with these two types of environment. We initially mix GUI and embodied data to train, but find the performance degeneration brought by the data conflict. Further analysis reveals that GUI and embodied data exhibit synergy and conflict at the shallow and deep layers, respectively, which resembles the cerebrum-cerebellum mechanism in the human brain. To this end, we propose a high-performance generalist agent OmniActor, designed from both structural and data perspectives. First, we propose Layer-heterogeneity MoE to eliminate the conflict between GUI and embodied data by separating deep-layer parameters, while leverage their synergy by sharing shallow-layer parameters. By successfully leveraging the synergy and eliminating the conflict, OmniActor outperforms agents only trained by GUI or embodied data in GUI or embodied tasks. Furthermore, we unify the action spaces of GUI and embodied tasks, and collect large-scale GUI and embodied data from various sources for training. This significantly improves OmniActor under different scenarios, especially in GUI tasks. The code will be publicly available.