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cs.AI2026
AegisFlow: Training-Free Non-Myopic Path-Safe Guided Flow Matching
Kunpeng Liu, Boshi Zhang, Keyou You
Pretrained generative models, such as diffusion and flow matching models, have demonstrated exceptional capabilities in synthesizing high-quality data. However, steering their gene…
cs.AI2026
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…
cs.AI2026
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…