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cs.RO2026
Keep the Effect, Drop the Actor: Programmable Effect-to-Execution World-Action Models
Junyi Hu, Zhewen He, Zhenhua Li +1
A robot demonstration records two things in the same frames: what happened to the objects, and how one particular arm made it happen. We condition on the first. A demonstration is…
cs.RO2026
Learning Adaptive Safety Margins for Visual Navigation
Junyi Hu, Shuaihang Yuan, Geeta Chandra Raju Bethala +2
Robots in cluttered indoor spaces often fail not because they cannot generate collision-free paths, but because a fixed safety margin is mis-calibrated: conservative margins cause…