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cs.RO2026
What Limits Cross-Task Generalization in World Action Models?
Chen Zhao, Zipeng Ye, Yihan Lin +2
Cross-task generalization remains difficult for world action models (WAMs), even when their predicted futures depict plausible manipulation. This gap can be attributed directly: we…
cs.RO2026
Flow-Support-Weighted Proposals for Test-Time Verified VLA Policies
Chen Zhao, Zipeng Ye, Haitao Shen +3
Test-time sampling promises to turn one action prediction into a set of distinct executable candidates that a verifier can choose among. Downstream fine-tuning works against that p…
cs.RO2026
Beyond Placement and Articulation: Usage-Driven Code Scenes for Embodied Interaction
Zijian Xiao, Zipeng Ye, Jinkun Hao +3
Indoor scene synthesis provides essential environments for embodied AI, robotic manipulation, and simulation-based policy learning. Recent code-based scene generation methods produ…