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cs.RO2026
TacForcing: Streaming Action Generation with Execution-Time Tactile Feedback
Jianbo Zhou, Boyuan Zhao, Yuzheng Zhang +9
Contact-rich manipulation requires adapting to contact states that can evolve substantially within an action horizon. However, chunk-based vision-language-action models predict com…
cs.RO2026
World-Language-Action Model for Unified World Modeling, Language Reasoning, and Action Synthesis
Yi Yang, Zhihong Liu, Siqi Kou +9
We propose world-language-action (WLA) models as a new class of embodied foundation models. WLA takes textual instructions, images, and robot states as inputs to jointly predict te…
cs.RO2025
LoHoVLA: A Unified Vision-Language-Action Model for Long-Horizon Embodied Tasks
Yi Yang, Jiaxuan Sun, Siqi Kou +2
Real-world embodied agents face long-horizon tasks, characterized by high-level goals demanding multi-step solutions beyond single actions. Successfully navigating these requires b…