G Q Huang

GigaWorld Team, Angen Ye, Angyuan Ma et al.

World Action Models (WAMs) improve robot policy learning by jointly modeling actions and future visual observations, using future scene evolution as dense supervision for physically grounded action generation. However, a common design in existing WAMs is to explicitly generate future videos at inference time, incurring substantial computational overhead and hindering real-time closed-loop deployment. GigaWorld-Policy addresses this issue with an action-centered formulation, where future visual dynamics are used during training while action-only decoding is used at inference time. Building upon this framework, we present GigaWorld-Policy-0.5, an enhanced action-centered WAM designed for more efficient robot control. During pretraining, GigaWorld-Policy-0.5 adopts a mixed Action-Conditioned World Modeling (AC-WM) and WAM training strategy. This strengthens the coupling between visual dynamics and robot actions and improves the transferability of action representations for downstream policy learning. For efficient inference, GigaWorld-Policy-0.5 introduces a Mixture-of-Transformers architecture that separates visual dynamics modeling and action generation into specialized experts, reducing active computation during action-only inference and achieving 85 ms inference latency on a local RTX 4090 setup. In addition, we employ an agent-based AutoResearch pipeline to systematically search training configurations, enabling more efficient identification of optimal experimental setups while reducing the time and manual intervention required for hyperparameter tuning. Experiments and ablations show that GigaWorld-Policy-0.5 preserves the training benefits of future visual dynamics while improving inference efficiency for robot control.

Boyuan Wang, Zhenyuan Zhang, Zhiqin Yang et al.

Autonomous data collection governs the volume and quality of real-world trajectories for manipulation policy learning. Existing pipelines reduce human effort via self-resetting, VLM verification, or language-guided correction, yet episode-scoped fixes must be reissued whenever the same failure recurs, so oversight cost grows with session length rather than with the number of distinct problems. We present PhysClaw-0, a human-robot symbiotic agentic system in which corrections are retained and reused across rounds. The collection loop collects, verifies, and resets autonomously, pausing for a remote operator only when a phase exhausts an explicit retry budget. An LLM parser maps each natural-language utterance to a structured adjustment stored in Corrective Memory, so addressed failure modes typically need not be corrected again under the same conditions. On a real-robot desktop-clearing testbed, PhysClaw-0 matches teleoperation episode success while reducing human working time to 16%. Language corrections improve verifier-human agreement in all four evaluated settings and raise average single-attempt success from 12.5% to 47.5% (arm-selection: 20.0% to 50.0%). Policies fine-tuned on PhysClaw-0 data match teleoperation-trained policy success at a fraction of collection human cost.

Gao Huang, Song Li

The problem of recovering an (approximately) low-rank Hermitian matrix $\pmb{M}_0 \in \mathbb{C}^{n \times n}$ of rank $r$ from quadratic sampling matrices of the form $\{\pmb{a}_k \pmb{a}_k^*\}_{k=1}^m$ arises in a variety of applications, including phase retrieval. To obtain rigorous recovery guarantees, the sampling vectors $\{\pmb{a}_k\}_{k=1}^m$ are typically modeled probabilistically. However, most existing theoretical results rely on Gaussian or sub-Gaussian assumptions, which may not accurately capture practical data models. In many applications, sampling vectors exhibit heavier tails, while theoretical understanding in such regimes remains scarce. In this paper, we bridge this gap. We show that two widely used convex approaches, nuclear norm minimization and semidefinite-constrained empirical risk minimization, achieve uniform, stable, and robust recovery under the mild assumption that the entries of the sampling vectors have only finite $4+δ$ moments, with the optimal sample complexity $m = \mathcal{O}(rn)$ up to moment-dependent constants. The two main ingredients of our analysis are moment estimates for quadratic forms established via decoupling, together with recent advances in covariance estimation in heavy-tailed settings. As byproducts, we also establish the optimal sample complexity for low-rank matrix recovery under complex projective $4$-design sampling, thereby improving upon previous results, and obtain stability guarantees for phase retrieval under similarly weak moment assumptions.