Showing cs.ROShow all
3 papers · 1 filter
cs.RO2026
TacPAC: Tactile Prediction and Real-Time Action Correction in World-Action Models for Contact-Rich Manipulation
Zipei Ma, Xiaofei Wei, Junzhe Jiang +2
World-action models guide action generation with predicted future observations, but vision-centric predictions miss the local contact cues that decide contact-rich manipulation. Ho…
cs.RO2026
From Imagined Futures to Executable Actions: Mixture of Latent Actions for Robot Manipulation
Yajie Li, Bozhou Zhang, Chun Gu +5
Video generation models offer a promising imagination mechanism for robot manipulation by predicting long-horizon future observations, but effectively exploiting these imagined fut…
cs.RO2025
Reinforcing Action Policies by Prophesying
Jiahui Zhang, Ze Huang, Chun Gu +2
Vision-Language-Action (VLA) policies excel in aligning language, perception, and robot control. However, most VLAs are trained purely by imitation, which overfits to demonstration…