3 papers
cs.RO2026
Low-Rank Dynamics-Effective Latent Carriers for Counterfactual Rollout in Learned World Models
Yang Liu, Yuming Chen
World models may predict the future without making clear which parts of their hidden state actually drive those predictions. We ask whether a small, directly addressable hidden-sta…
cs.RO2026
Seeing Touch from Motion: A Unified Modality-Aware Visuo-Tactile Policy with Tactile Motion Correlation
Shengqi Xu, Guojin Zhong, Yang Liu +7
Visuo-Tactile policies leveraging optical tactile sensors have shown great promise in contact-rich manipulation. These sensors achieve high spatial resolution and multi-dimensional…
cs.RO2026
Event-Conditioned Diagnostics of Kinematic, Contact, and Object-Permanence Fields in Passive Object-State World Models
Yang Liu, Yuming Chen
World models can predict future physical states, but prediction accuracy alone does not explain how physical information is organized and used inside their latent dynamics. We intr…