{"id":"https://openalex.org/W7165055550","doi":"https://doi.org/10.48550/arxiv.2606.17846","title":"Qwen-RobotManip Technical Report: Alignment Unlocks Scale for Robotic Manipulation Foundation Models","display_name":"Qwen-RobotManip Technical Report: Alignment Unlocks Scale for Robotic Manipulation Foundation Models","publication_year":2026,"publication_date":"2026-06-16","ids":{"openalex":"https://openalex.org/W7165055550","doi":"https://doi.org/10.48550/arxiv.2606.17846"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.17846","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.17846","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.17846","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5138802947","display_name":"Haoqi Yuan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yuan, Haoqi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138804762","display_name":"Zhixuan Liang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liang, Zhixuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138790436","display_name":"Anzhe Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Anzhe","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138775558","display_name":"Ye Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Ye","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138803833","display_name":"Haoyang Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Haoyang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124215881","display_name":"Pei Lin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lin, Pei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126420301","display_name":"Y Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Yiyang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004564311","display_name":"Zixing Lei","orcid":"https://orcid.org/0000-0001-7074-2307"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lei, Zixing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138777662","display_name":"Tong Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Tong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138798452","display_name":"Jiazhao Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Jiazhao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138766328","display_name":"Jie Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Jie","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009031467","display_name":"Jiahao Fan","orcid":"https://orcid.org/0000-0002-6915-7271"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fan, Jingyang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138762053","display_name":"Gengze Zhou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Gengze","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138784970","display_name":"Qihang Peng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Peng, Qihang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138760140","display_name":"Chenxu Lv","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lv, Chenxu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138806430","display_name":"Xiaoyue Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Xiaoyue","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138771034","display_name":"An Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, An","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082387577","display_name":"F T Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Fei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138800920","display_name":"Junyang Lin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lin, Junyang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138273640","display_name":"D Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Dayiheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138764493","display_name":"Jingren Zhou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Jingren","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103489382","display_name":"C E Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Chenfei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5138771688","display_name":"Xiong-Hui Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Xiong-Hui","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.525600016117096,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.525600016117096,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.26739999651908875,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.039900001138448715,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6984999775886536},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.6378999948501587},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5656999945640564},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5651999711990356},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.5001000165939331},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.428600013256073},{"id":"https://openalex.org/keywords/training-set","display_name":"Training set","score":0.38429999351501465}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7178999781608582},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6984999775886536},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.6378999948501587},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5656999945640564},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5651999711990356},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5340999960899353},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.5001000165939331},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.428600013256073},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.38760000467300415},{"id":"https://openalex.org/C51632099","wikidata":"https://www.wikidata.org/wiki/Q3985153","display_name":"Training set","level":2,"score":0.38429999351501465},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.35670000314712524},{"id":"https://openalex.org/C2781020372","wikidata":"https://www.wikidata.org/wiki/Q533093","display_name":"On the fly","level":2,"score":0.33880001306533813},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.33160001039505005},{"id":"https://openalex.org/C56288433","wikidata":"https://www.wikidata.org/wiki/Q58673","display_name":"Data manipulation language","level":2,"score":0.3091999888420105},{"id":"https://openalex.org/C2780966255","wikidata":"https://www.wikidata.org/wiki/Q5474306","display_name":"Foundation (evidence)","level":2,"score":0.30169999599456787},{"id":"https://openalex.org/C160920958","wikidata":"https://www.wikidata.org/wiki/Q7662746","display_name":"Synthetic data","level":2,"score":0.2930999994277954},{"id":"https://openalex.org/C99844830","wikidata":"https://www.wikidata.org/wiki/Q102441924","display_name":"Scaling","level":2,"score":0.2797999978065491},{"id":"https://openalex.org/C24756922","wikidata":"https://www.wikidata.org/wiki/Q1757694","display_name":"Data quality","level":3,"score":0.25189998745918274}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.17846","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.17846","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.17846","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.17846","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Foundation":[0],"models":[1],"in":[2,57,102,214],"language":[3],"and":[4,17,55,61,86,134,146,159,174,187,198,221,232],"multimodality":[5],"achieve":[6,37],"strong":[7],"generalization":[8,162],"by":[9,50],"aligning":[10],"heterogeneous":[11,49,140],"data":[12,47,109,151],"under":[13],"a":[14,68,78,111,135,155,217],"unified":[15,79],"formulation":[16],"training":[18,94,115],"at":[19,110],"scale.":[20],"In":[21],"this":[22,27],"report,":[23],"we":[24],"investigate":[25],"whether":[26],"scaling":[28],"recipe":[29],"can":[30],"be":[31],"applied":[32],"to":[33,36,53,106,169,183],"robotic":[34],"manipulation":[35,46,108],"genuine":[38],"generalization.":[39],"This":[40,99],"is":[41,48,222],"challenging":[42],"because,":[43],"unlike":[44],"text,":[45],"nature,":[51],"expensive":[52],"collect,":[54],"narrow":[56],"diversity,":[58],"making":[59,91],"alignment":[60,80,100],"scale":[62,112],"simultaneously":[63],"difficult.":[64],"We":[65,177],"present":[66],"Qwen-RobotManip,":[67],"generalizable":[69],"Vision-Language-Action":[70],"foundation":[71],"model":[72],"built":[73],"on":[74,224],"Qwen-VL.":[75],"Qwen-RobotManip":[76,105,153,200],"introduces":[77],"framework":[81],"across":[82,131,208],"the":[83],"representation,":[84],"motion,":[85],"behavioral":[87],"dimensions":[88],"of":[89],"manipulation,":[90],"large-scale":[92],"multi-source":[93],"coherent":[95],"rather":[96],"than":[97],"conflicting.":[98],"capability":[101],"turn":[103],"enables":[104],"absorb":[107],"that":[113,179],"prior":[114,203],"regimes":[116],"could":[117],"not":[118],"sustain.":[119],"A":[120],"human-to-robot":[121],"synthesis":[122],"pipeline":[123,138],"converts":[124],"egocentric":[125],"hand":[126],"demonstrations":[127],"into":[128],"robot":[129],"trajectories":[130],"15":[132],"platforms,":[133],"rigorous":[136],"curation":[137],"harmonizes":[139],"datasets.":[141],"Using":[142],"only":[143],"open-source":[144],"datasets":[145],"human":[147],"videos":[148],"without":[149],"proprietary":[150],"collection,":[152],"constructs":[154],"~38,100-hour":[156],"pretraining":[157,185],"corpus":[158],"exhibits":[160],"emergent":[161],"capabilities,":[163],"including":[164,192,206,227],"zero-shot":[165],"instruction":[166],"following,":[167],"robustness":[168],"perturbations,":[170],"reactive":[171],"error":[172],"recovery,":[173],"cross-embodiment":[175],"transfer.":[176],"find":[178],"standard":[180],"benchmarks":[181],"fail":[182],"capture":[184],"quality":[186],"instead":[188],"adopt":[189],"OOD":[190,210],"settings":[191],"RoboCasa365,":[193],"LIBERO-Plus,":[194],"EBench,":[195],"RoboTwin-Clean2Rand,":[196],"RoboTwin-IF,":[197],"RoboTwin-XE.":[199],"substantially":[201],"outperforms":[202],"state-of-the-art":[204],"models,":[205],"$\u03c0$0.5,":[207],"all":[209],"settings,":[211],"ranks":[212],"1st":[213],"RoboChallenge":[215],"with":[216],"20%":[218],"relative":[219],"improvement,":[220],"validated":[223],"real-robot":[225],"platforms":[226],"AgileX":[228],"ALOHA,":[229],"Franka,":[230],"UR,":[231],"ARX.":[233]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-18T00:00:00"}
