Xiaomi（小米）

One Policy, Many Embodiments: Unified Camera-Centric Action Geometry Pre-training for Heterogeneous Embodied Manipulation

单一策略，多种具现体：面向异构具身操纵的以相机为中心的统一动作几何预训练

Xiaomi Embodied Intelligence Team, University of Macau: Shaoqing Xu, Fang Li, Guozhi Zhan, Zhixiang Duan, Yuhan Wang, Yuechen Luo, Shengyin Jiang, Hanbing Li, Zhiying Du, Longlong Wang, Longmei Jiang, Weixiang Liang, Ying Gong, Yong Pan, Ziping Zhao, Zhiyuan Chen, Yangwei You, Kun Ma, Qinyuan Liu, Hangjun Ye, Zhi-xin Yang

机构 * Xiaomi Embodied Intelligence Team（小米具身智能团队） ； University of Macau（澳门大学） 纠错

AI总结 该研究针对异构具身操纵数据的问题，提出UCAG-P预训练方法，通过以相机为中心的统一动作公式对齐数据，在多个基准任务上取得优异性能，无需特定微调。

Comments Technical Report,Project page: this https URL (https://public-bots.github.io/UCAG-P)