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cs.RO2026
One from Infinity: Actualizing Futures from Pretrained World Models into Robot Actions
Bang Du, Yichen Xie, Shuqi Zhao +3
A pretrained video world model admits many plausible futures for a scene, but a robot must realize the exact task-conditioned one. To turn world models into executable robot polici…
cs.RO2026
CARF: Contrastive Attraction-Repulsion of Failure-Guided Flow Matching
Shuqi Zhao, Bang Du, Cheng-En Wu +3
Robot demonstration collection often produces imperfect or failed trajectories in addition to successful demonstrations. Existing methods typically exploit failed trajectories by i…
cs.RO2026
Multi-Camera View Scaling for Data-Efficient Robot Imitation Learning
Yichen Xie, Yixiao Wang, Shuqi Zhao +4
The generalization ability of imitation learning policies for robotic manipulation is fundamentally constrained by the diversity of expert demonstrations, while collecting demonstr…