4 papers
Compact but Moving: Intervention-Relevant Geometry in Recurrent World Models
Yuming Chen, Yang Liu
Learned world models may have compact interventions even when their recurrent state is high-dimensional, but it is unclear what happens to such a correction after it enters the mod…
Low-Rank Dynamics-Effective Latent Carriers for Counterfactual Rollout in Learned World Models
Yang Liu, Yuming Chen
We ask whether a small, directly addressable hidden-state intervention can place a learned world model on an intended counterfactual future and then let the model's own dynamics ca…
Seeing Touch from Motion: A Unified Modality-Aware Visuo-Tactile Policy with Tactile Motion Correlation
Shengqi Xu, Guojin Zhong, Yang Liu +7
Visuo-Tactile policies leveraging optical tactile sensors have shown great promise in contact-rich manipulation. These sensors achieve high spatial resolution and multi-dimensional…
Event-Conditioned Diagnostics of Kinematic, Contact, and Object-Permanence Structure in Passive Object-State World Models
Yang Liu, Yuming Chen
World models can predict future physical states, but prediction accuracy alone does not explain how physical information is organized and used inside their latent dynamics. We intr…