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cs.RO2026
Cross-Embodiment Causal Transfer from Human Videos to Robot Manipulation
Xingyu Zhang, Yingchao Li, Peizheng Guo +3
Scaling robot manipulation models requires large amounts of interaction data, yet collecting diverse real-robot experience remains costly. Human manipulation videos, in contrast, p…
cs.RO2026
CAG-WAM: Causal Action-Gain World Action Models for Robot Manipulation
Peizheng Guo, Cheng Zhang, Xingyu Zhang +2
World Action Models (WAMs) combine action generation with future prediction, allowing predicted futures to support action evaluation and robot decision making. However, the future…