4 papers · 1 filter
Proprioceptive Sketches as Long-Horizon Intent for Generative Action Policies
Fangyuan Wang, Songhao Huang, Haoxiang Sun +5
Generative robot policies predict short action chunks but lack explicit long-horizon intent. Recent methods expose longer-horizon structure through language plans, subgoal images,…
How much of fly walking is written in the wiring?
Isabel Guan, Yuntian Zhao, Dingyuan Zhang +2
Connectome models of the fly nerve cord generate walking-like motor rhythms, but oscillation alone does not show that the specific wiring matters. Here we provide, to our knowledge…
Humanoid Locomotion with a Fly-Inspired Recurrent Controller
Isabel Guan, Yuntian Zhao, Dingyuan Zhang +1
We investigate humanoid locomotion with a fly-inspired recurrent controller and identify the pathways supporting its deployed behavior. The controller couples 3,609 continuous neur…
Think Proprioceptively: State-Grounded Visual Token Selection for VLA Policies
Fangyuan Wang, Peng Zhou, Jiaming Qi +4
Vision-language-action (VLA) models typically inject proprioception only as a late conditioning signal, preventing robot state from grounding instruction understanding or directing…