4 papers
Copper-Policy: Focus on the Representation for Robust Robot Manipulation
Zexin Feng, Yixu Feng, Lingyu Xiao +6
World Action Models (WAMs) acquire behavioral priors by modeling future scene evolution, but predicting detailed futures in pixel or latent space incurs substantial cost. Recent ev…
MeshPriorDiT: Hierarchical Modeling for Action-Conditioned Cloth Dynamics
Zihang Wang, Jianming Hu, Shang Su +4
Action-conditioned cloth dynamics prediction requires both locally plausible deformation and long-range coordination. Existing approaches largely follow two paradigms. Mesh-based G…
Policy-Level Recursive Self-Improvement for Embodied AI with a Criticality World Model
Linxuan He, Yuying Tian, Lingxiang Fan +5
Despite advances in policy pretraining, embodied AI systems can plateau during task-specific fine-tuning as uniform scenario collection encounters fewer of the remaining failures.…
DC-WAM: Dynamic-Centric Visual Supervision and Reasoning for World-Action Models
Haoyuan Ji, Lingxiang Fan, Shang Su +4
World-Action Models (WAMs) augment robot policies with future visual prediction, but it remains unclear what the visual modality should learn for control. While photorealistic futu…