3 papers
cs.RO2026
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…
eess.SY2026
Self-Evolving Learning for Embodied AI with Criticality Model
Linxuan He, Yuying Tian, Lingxiang Fan +5
Despite rapid advances in policy pretraining, embodied AI systems routinely plateau during task-specific finetuning. The root cause lies in how finetuning data are collected: the d…
cs.RO2026
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…