5 papers
AffordJEV: Affordance Grounding by Confirming Candidate Regions
Jincheng Li, Yutian Zhang, Jianyu Zhang +2
Affordance grounding asks which visible part of an object performs a requested operation, a basic capability for embodied manipulation and human--robot interaction. Most existing m…
Learning Whole-Body Kinetic Coordination for Wheeled-Quadruped Long-Range Throwing
Qinglian Wu, Yidian Hu, Weiqi Fan +5
Long-range throwing on unstructured terrain is a key capability for mobile robots in delivery and retrieval tasks, but it requires high release velocity, coordinated whole-body mot…
FWBC-VLA: Force-Aware Whole-Body Compensation for Contact-Rich Loco-Manipulation
Yutian Zhang, Siyuan Ma, Liwen Yang +6
Contact-rich loco-manipulation requires a bridge between semantic action generation and physical interaction control. Existing Vision-language-action (VLA) models generate task-lev…
ForeTime-VLA: Causal Future-Token Distillation from a World Action Model for Conveyor-Belt Manipulation
Siyuan Ma, Yutian Zhang, Boshi Zhang +4
Manipulating moving objects requires a policy to anticipate contact events, yet vision-language-action (VLA) policies are commonly fine-tuned from the current observation alone. Wo…
DECOWAM: Decoupled Whole-Body World-Action Model for Legged Mobile Manipulation
Siyuan Ma, Boshi Zhang, Yutian Zhang +4
Mobile manipulation requires a robot to predict how locomotion and arm motion jointly alter future observations and control. Existing world-action models, developed largely for fix…