5 papers
FlexWorm: Primitive-augmented Hybrid Contact-motion Planning for Suction-based Multi-segment Deformable Robots
Zili Tang, Tiecheng Guo, Qinyue Zhang +1
Multi-segment suction-based soft robots are promising for inspection and maintenance in confined or fragile environments, but existing approaches still depend heavily on manually d…
Action ControlNet: A Lightweight Delay-Aware Adapter for Smooth Asynchronous Control in Vision-Language-Action Models
Tiecheng Guo, Meng Guo
Vision-language-action (VLA) models have shown strong potential for general-purpose robot manipulation, but their inference latency remains a major obstacle to stable high-frequenc…
IOI: Decoupling Kinematics and Physics for Interactive World Models
Chengyu Bai, Peidong Jia, Tiecheng Guo +11
Developing generalist embodied agents requires interactive environments providing visually realistic feedback and accurate action-conditioned dynamics. Interactive world models add…
Efficient-WAM: A 1B-Parameter World-Action Model with Low-Cost Future Imagination
Jiajun Li, Tiecheng Guo, Yifan Ye +9
World-Action Models (WAMs) have emerged as a promising paradigm for embodied control by coupling future visual prediction with action generation. However, most existing WAMs rely o…
Customize Harmonic Potential Fields via Hybrid Optimization over Homotopic Paths
Shuaikang Wang, Tiecheng Guo, Meng Guo
Safe navigation within a workspace is a fundamental skill for autonomous robots to accomplish more complex tasks. Harmonic potentials are artificial potential fields that are analy…